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

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left">Safe distance</td><td class="align_center">Planning time/(S)</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></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">Body width</td><td class="align_center">0.4976</td><td class="align_center">194.445</td><td class="align_center">7</td><td class="align_center">7807</td></tr><tr><td class="align_left">15 cm</td><td class="align_center">0.2711</td><td class="align_center">205.5228</td><td class="align_center">4</td><td class="align_center">6034</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Path planning time at different grid resolutions.</div>

Security and Communication Networks

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Table 5

Table 5: Warehouse-Oriented Optimal Path Planning for Autonomous Mobile Fire-Fighting Robots 