A Method of Planning Disaster Emergency Rescue Paths in Road-Free Environment

Table 5

The comparison data of the algorithm.

The conventional A^∗ algorithm

The improved A^∗ algorithm

Path distance (km)

Time loss (h-m-s)

Slope proportion (%)

The proportion of geological types (%)

Path length (km)

Time loss (m-s)

Slope proportion (%)

The proportion of geological types (%)

Search time

Preestimate time

Total time

0°–20°

20°–30°

Search time

Preestimate time

Total time

0°–20°

20°–30°

Short distance

0.757

1 m 47 s

46 s

2 m 33 s

100

0

Grass 99

Chu 1

0.782

2 s

48 s

50 s

99

1

Grass 100

0.942

51 s

1 m 31 s

2 m 22 s

76

24

Grass 1

Mountain 99

1.048

5 s

1 m 26 s

1 m 31 s

100

0

Grass 16

Mountain 84

0.965

47 s

1 m 17 s

2 m 4 s

83

17

Grass 11

Mountain 89

1.075

2 s

1 m 8 s

1 m 10 s

100

0

Grass 52

Mountain 48

Shorter distance

1.866

2 m

2 m 43 s

4 m 43 s

81

19

Grass 6

Mountain 94

2.01

6 s

2 m 48 s

2 m 54 s

83

17

Grass 25

Mountain 75

1.876

27 m 36 s

2 m 11 s

29 m 47 s

67

33

Grass 65

Mountain 35

2.235

1 s

2 m 23 s

2 m 24 s

70

30

Grass 79

Mountain 21

2.032

17 m 49 s

2 m 29 s

20 m 18 s

80

20

Grass 43

Mountain 57

2.416

4 s

2 m 48 s

2 m 52 s

76

24

Grass 66

Mountain 34

Medium distance

3.18

103 m 26 s

3 m 35 s

107 m 1 s

90

10

Grass 63

Chu 37

3.2

5 s

3 m 55 s

4 m 0 s

99

1

Grass 52

Chu 48

4.887

201 m 11 s

5 m 46 s

206 m 57 s

70

30

Grass 56

Mountain 44

5.594

5 s

6 m 19 s

6 m 24 s

66

34

Grass 68

Mountain 32

4.502

292 m 13 s

5 m 38 s

297 m 51 s

84

16

Grass 31

Mountain 69

5.65

23 s

6 m 17 s

6 m 40 s

81

19

Grass 77

Mountain 23

Long distance

—

>5 h

>5 h

>5 h

—

—

—

—

11.069

7 s

13 m 22 s

13 m 29 s

30

70

Grass 54

Mountain 46

—

>5 h

>5 h

>5 h

—

—

—

—

19.202

10 s

22 m 38 s

22 m 48 s

76

24

Grass 55

Mountain 45

—

>5 h

>5 h

>5 h

—

—

—

—

41.121

2 m 16 s

44 m 42 s

46 m 58 s

83

17

Grass 60

Mountain 40