Warehouse-Oriented Optimal Path Planning for Autonomous Mobile Fire-Fighting Robots

Table 1

The comparisons of performance efficiency for A algorithm.

Origin termination	Algorithm	The length of the path	Turn times
(18, 1); (2, 13)	Four-way A	28.00	0.0678
	Eight-way A	22.14	0.0196
	Improved eight-way A	24.49	0.036