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 5 不同环境下路径规划时间对比
Tab.5 Comparison of route planning time in different environments
算法 ES=502 ES=1002 ES=5002
OT FT OT FT OT FT
有向D* 14.56 0.65 55.70 1.12 113.50 18.90
D* Lite 14.02 2.14 50.70 10.46 114.34 764.20
Focussed D* 17.29 2.67 65.01 14.41 150.88 860.41