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=50
2
ES=100
2
ES=500
2
有向D*
3
10
12
D* Lite
5
13
17
Focussed D*
5
20
25