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 6 不同环境下拐点数目对比
Tab.6 Number of inflection points in different environments
算法 拐点数目
ES=502 ES=1002 ES=5002
有向D* 3 10 12
D* Lite 5 13 17
Focussed D* 5 20 25