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Table 1 Simulation and experiment parameters

From: A set of novel modifications to improve algorithms from the A* family applied in mobile robotics

  Middle size Small size
Distance
max 4 m 2 m
min 2 m 1 m
Slack
Slack 0.25 m 0.06 m
Cs 5 5
Direction
Ce 5 1.35
a 0.65 m 0.6
Heuristic parameter
k 1.2 1.2
Target orientation
amp 60 28.6
Cd 5 1.3