Table 6. Experimental data in the 128 × 128 grid map environment.

Algorithm	Number of expanded nodes	Path length	Number of path points	Time (s)
Four-neighborhood A* algorithm	5,125	254	255	1.014
Eight-neighborhood A* algorithm	602	188.39	143	0.40
Improved A* algorithm 2	525	182.54	53	0.0079