SA*：一种多线程路径规划算法
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孙经纬, 孙广中, 詹石岩, 毛睿, 周英华
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SA*: A Multi-thread Path Routing Algorithm
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SUN Jingwei,SUN Guangzhong,ZHAN Shiyan,MAO Rui,ZHOU Yinghua
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| 表3 不同方法的平均相对误差（%） |
| Tab. 3 Comparison of average relative error using different methods |
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| 方法 | 分段 | NW | NE | CAL | E | W | USA | | SA*(line) | k=2 | 6.5 | 6.4 | 6.5 | 4.5 | 5.1 | 1.9 | | k=4 | 17.0 | 13.3 | 17.0 | 12.2 | 13.4 | 5.5 | | k=8 | 36.5 | 26.2 | 36.5 | 23.1 | 30.1 | 12.5 | | k=16 | 66.8 | 49.1 | 66.7 | 45.5 | 61.2 | 33.1 | | SA*(path) | k=2 | 3.2 | 1.4 | 3.1 | 1.7 | 2.5 | 1.8 | | k=4 | 5.8 | 3.3 | 5.8 | 3.6 | 4.7 | 3.4 | | k=8 | 7.7 | 5.2 | 8.2 | 5.5 | 6.9 | 5.3 | | k=16 | 9.4 | 7.1 | 10.1 | 7.4 | 8.8 | 7.1 |
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