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| Indicators | A* algorithm | A* with Expansion Distance | Bidirectional A* with Expansion Distance | EBS-A* algorithm |
|---|---|---|---|---|
| Running time/s | 33.559(100%) | 21.386(63.73%) | 5.639(16.80%) | 7.835(23.35%) |
| Number of nodes | 79.4 | 79.4 | 79.4 | 67 |
| Number of right-angle turns | 6.4 | 6.2 | 7 | 0 |
| Max turning angle | 90° | 90° | 90° | 45° |
| Number of expansion nodes | 1,085 | 744.8 | 553 | 693.8 |
| Number of critical nodes | 36.2 | 0 | 0 | 3 |
