A Smooth Jump Point Search Algorithm for Mobile Robots Path Planning Based on a Two-Dimensional Grid Model

Table 3

Our algorithm for large-scale map path planning.

Map number	Route	Start point coordinates	End point coordinates	Path length/m	Number of extension nodes	Number of nodes visiting the obstacle
Map_1 (700700)	1	(160.5 20.5)	(230.5 90.5)	8791.764	48	31378
Map_2 (500500)	1	(160.5 20.5)	(230.5 90.5)	1099.080	42	42016
	2	(80.5 360.5)	(300.5 437.5)	2415.358	29	39487
	3	(290.5 250.5)	(450.5 480.5)	2807.652	37	39494
Map_3 (500500)	1	(80.5 310.5)	(150.5 420.5)	1478.851	38	38302
	2	(80.5 80.5)	(220.5 250.5)	2220.133	26	35850
	3	(310.5 60.5)	(400.5 370.5)	3472.792	40	35865