Simulation Times

Time (h)

ASP/s of the original A* algorithm

ASP/s of the improved A* algorithm

1

1

3.54

3.85

2

2

3.43

3.79

3

3

3.32

3.78

4

4

3.22

3.75

5

5

3.12

3.75

6

6

3.01

3.74