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| Indicators | A* algorithm | A* with Expansion Distance | Bidirectional A* with Expansion Distance | EBS-A* algorithm |
|---|---|---|---|---|
| Running time/s | 302.467 | 271.190 | 134.719 | 138.813 |
| Number of nodes | 179 | 179 | 179 | 167 |
| Number of right-angle turns | 7 | 9 | 6 | 0 |
| Max turning angle | 90° | 90° | 90° | 45° |
| Number of expansion nodes | 7,509 | 6722 | 6531 | 6533 |
| Number of critical nodes | 31 | 0 | 0 | 2 |
