A Two-Stage Path Planning Method for the Rearrangement Problem in Modular Puzzle-Based Storage System

Table 4

Experimental results of different storage densities.

Parameter configurations		Results of case Single	Results of case Block		Results of case Para		Results of case Both
50%	8	171.78	102.94	0.4007	87.68	0.4896	81.40	0.5261
60%	8	241.22	144.42	0.4013	141.18	0.4147	119.68	0.5039
70%	8	413.30	206.66	0.5000	216.58	0.4760	167.26	0.5953
80%	8	608.48	244.32	0.5985	391.66	0.3563	214.30	0.6478
90%	8	948.38	310.06	0.6731	756.26	0.2026	275.96	0.7090