A Novel Parallel Ant Colony Optimization Algorithm for Warehouse Path Planning

Table 4

Data comparison before and after the path smoothing.

Map size	Length before smoothing	Length after smoothing	Reduction rate	Turns before smoothing	Turns after smoothing	Reduction rate (%)
30 ∗ 30	42.3553	39.8410	5.9	13	11	15.3
35 ∗ 35	51.1838	47.5159	7.2	18	11	39.0