移动机器人路径动态规划有向D*算法
刘军,冯硕,任建华
Directed D* algorithm for dynamic path planning of mobile robots
Jun LIU,Shuo FENG,Jian-hua REN
表 4
不同环境下路径长度对比
Tab.4
Comparison of route length in different environments
ES
有向D*
D* Lite
Focussed D*
50
2
72.06
77.09
75.24
100
2
155.28
161.49
158.78
500
2
828.62
860.72
1 134.80