Table 4 Results of large-scale complex environment experiment.

From: Multi-area collision-free path planning and efficient task scheduling optimization for autonomous agricultural robots

Indicators

Environment I

Environment II

Number of nodes traversed

CPP composite indicator

TSO composite indicator

Number of nodes traversed

CPP composite indicator

TSO composite indicator

Our

2,180,467

1116.9

225.8748

3,227,485

1354.9

271.356

A*-GA

16,328,794

2262.5

1048.0957

22,680,919

2708.3

1110.6114

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