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| Indicators | A* algorithm | A* with Expansion Distance | Bidirectional A* with Expansion Distance | EBS-A* algorithm |
|---|---|---|---|---|
| Running time/s | 269.335 | 268.331 | 128.775 | 125.677 |
| Number of nodes | 179 | 179 | 179 | 170.8 |
| Number of right-angle turns | 6 | 5.7 | 6 | 0 |
| Max turning angle | 90° | 90° | 90° | 45° |
| Number of expansion nodes | 7,709.4 | 7,302.8 | 6,817.4 | 6,599 |
| Number of critical nodes | 10 | 0 | 0 | 2 |
