Table 5. Simulation results of four algorithms on a 150×150 map.

Indicators	A* algorithm	A* with Expansion Distance	Bidirectional A* with Expansion Distance	EBS-A* algorithm
Running time/s	267.377	100.597	56.755	56.866
Number of nodes	279	285	285	228
Number of right-angle turns	39	47	42	0
Max turning angle	90°	90°	90°	45°
Number of expansion nodes	7,437	2,931	2,633	2,644
Number of critical nodes	192	0	0	11