A Global Path Planning Algorithm Based on Bidirectional SVGA

Table 1

Experimental results in 2D environment with randomly generated obstacles.

Algorithms	Number of obstacles	Average number of vertices	Average number of edges in E	Average running time/s	Best running time/s	Worst running time/s
Complete VG +	6	41	171	0.82	0.67	1.38
Simplified VG +			76	0.35	0.002	1.19
POVG +			131	0.32	0.19	0.45
Unidirectional SVGA			36	0.05	0.002	0.19
Bidirectional SVGA			40	0.04	0.002	0.17
Complete VG +	9	60	288	2.84	1.38	5.58
Simplified VG +			183	1.87	0.002	5.18
POVG +			174	0.87	0.64	1.15
Unidirectional SVGA			59	0.12	0.002	0.34
Bidirectional SVGA			64	0.09	0.002	0.31
Complete VG +	12	79	405	6.75	4.87	7.32
Simplified VG +			308	5.06	0.27	6.50
POVG +			203	1.85	1.44	3.12
Unidirectional SVGA			84	0.18	0.01	0.85
Bidirectional SVGA			92	0.14	0.01	0.76
Complete VG +	15	95	535	11.96	7.38	16.42
Simplified VG +			410	9.18	6.24	17.45
POVG +			235	2.73	1.54	4.74
Unidirectional SVGA			117	0.40	0.17	1.63
Bidirectional SVGA			131	0.32	0.14	1.47
Complete VG +	18	113	601	17.28	14.82	31.18
Simplified VG +			516	15.02	8.73	32.29
POVG +			269	4.12	2.89	7.26
Unidirectional SVGA			140	1.03	0.21	4.07
Bidirectional SVGA			167	0.81	0.18	4.39