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| Indicators | A* algorithm | A* with Expansion Distance | Bidirectional A* with Expansion Distance | EBS-A* algorithm |
|---|---|---|---|---|
| Running time/s | 264.789 | 116.379 | 45.381 | 57.032 |
| Number of nodes | 279.4 | 284.2 | 283.8 | 233.4 |
| Number of right-angle turns | 29 | 26.2 | 28 | 0 |
| Max turning angle | 90° | 90° | 90° | 45° |
| Number of expansion nodes | 8,864.4 | 3,713.2 | 2,713 | 3,325.6 |
| Number of critical nodes | 201 | 0 | 0 | 12 |
