FPGA Implementation of A Algorithm for Real-Time Path Planning

Table 5

Experimental results of randomly generated maps.

Data set	Cases	Implementation	Distance	Expanded nodes	Time (ms)	Speedup
Random 0%	Worst	Software	357	65527	85	75
		Hardware			1.1367
	Random	Software	136.5	29720	38.2	74
		Hardware			0.516
Random 10%	Worst	Software	361.8	45284	76.4	72
		Hardware			1.059
	Random	Software	140.9	26278	31.2	69
		Hardware			0.467
Random 20%	Worst	Software	370.2	41202	66.4	61
		Hardware			1.087
	Random	Software	131.8	7986	21.7	44
		Hardware			0.493
Random 30%	Worst	Software	374.4	35597	58.4	50
		Hardware			1.160
	Random	Software	152.0	7543	20	47
		Hardware			0.429
Random 40%	Worst	Software	392.2	24236	52	45
		Hardware			1.144
	Random	Software	155.0	6962	19.8	48
		Hardware			0.412
Random 50%	Worst	Software	433.9	23352	40.4	37
		Hardware			1.088
	Random	Software	168.1	5882	14.2	42
		Hardware			0.340