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

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left">Algorithm</td><td class="align_center">The length of path</td><td class="align_center">Discount points</td><td class="align_center">Ergodic grid number</td><td class="align_center">Planning time (S)</td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">No safe distance</td><td class="align_center">37.17</td><td class="align_center">4</td><td class="align_center">361</td><td class="align_center">0.4424</td></tr><tr><td class="align_left">0.6 grid safe distance</td><td class="align_center">37.62</td><td class="align_center">2</td><td class="align_center">135</td><td class="align_center">0.2749</td></tr><tr><td class="align_left">1.0 grid safe distance</td><td class="align_center">39.98</td><td class="align_center">5</td><td class="align_center">135</td><td class="align_center">0.2272</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Effect analysis of path planning for different safe distances.</div>

Security and Communication Networks

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Table 4

Table 4: Warehouse-Oriented Optimal Path Planning for Autonomous Mobile Fire-Fighting Robots 