Table 8. Average simulation results of four algorithms on randomized 200×200 maps.

Indicators	A* algorithm	A* with Expansion Distance	Bidirectional A* with Expansion Distance	EBS-A* algorithm
Running time/s	674.438	378.412	116.365	119.974
Number of nodes	380.6	443	414.6	330.6
Number of right-angle turns	43	59.2	60	0
Max turning angle	90°	90°	90°	45°
Number of expansion nodes	11,809.8	6,598.4	5,238.2	4,426.8
Number of critical nodes	275	0	0	16