Volcanic Ash Region Path Planning Based on Improved A-Star Algorithm

Table 6

The results of path planning from Madrid to Cairo.

Algorithm category	Improved A-star algorithm [23, 24]	Traditional A-star algorithm [14, 17]	Artificial potential field method [12, 13]	Genetic algorithm [10]
Path length	3441 km	3653 km	3760 km	3920 km
Change of angle	80°	360°	211°	90°
Distance off course	173 km	200 km	180 km	453 km
Run time	0.084 s	1.770 s	0.072123 s	353.036 s
Algorithmic complexity	O(2n)	O(n^2)	O(n^2)	O((n − 1)^2)