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| Indicators | A* algorithm | A* with Expansion Distance | Bidirectional A* with Expansion Distance | EBS-A* algorithm |
|---|---|---|---|---|
| Running time/s | 36.806(100%) | 21.782(59.18%) | 9.637(26.18%) | 9.747(26.48%) |
| Number of nodes | 79 | 79 | 79 | 66 |
| Number of right-angle turns | 7 | 9 | 8 | 0 |
| Max turning angle | 90° | 90° | 90° | 45° |
| Number of expansion nodes | 1372 | 787 | 679 | 682 |
| Number of critical nodes | 37 | 0 | 0 | 3 |
