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=50
2
ES=100
2
ES=500
2
O
(
T
)
F
(
T
)
O
(
T
)
F
(
T
)
O
(
T
)
F
(
T
)
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