Hexagon-Based Generalized Voronoi Diagrams Generation for Path Planning of Intelligent Agents

Table 4

Comparison of the computation time and the average number of cell visits for path planning tasks performed by agents on both whole hexagonal grid maps and GVDs metrics with seven different resolutions.

Resolution	Whole map		GVD metrics		Ratio
	Time 1 (s)	Cell visits 1	Time 2 (s)	Cell visits 2	Time 1/time 2	Cell visits 1/cell visits 2
72 × 100	5.5708	3512	0.3591	1032	15.5132	3.4031
108 × 150	18.1019	7463	0.6792	1550	26.6518	4.8148
144 × 200	54.2843	12926	1.2297	2221	44.1443	5.8199
180 × 250	123.3430	20560	1.7734	2753	69.5517	7.4682
216 × 300	236.2265	29340	2.9470	3537	80.1683	8.2951
252 × 350	410.7248	38662	3.6282	4008	113.2035	9.6462
288 × 400	684.7620	51275	4.2549	4384	160.9349	11.6959