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slurm-2813195.out
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World size: 500
World type: 1
Version: 115
K: 8000
Number of cpus: 4
choose FOUR_OBS
===== Parallel version RRT*! =====
Starting RRT* Algorithm...
First Viable Solution Obtained after 3259 iterations
Cost is 785.221
Saving the generated plan (vector of points)
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3314 iterations
Cost is 696.324
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3461 iterations
Cost is 430.42
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3616 iterations
Cost is 422.043
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3788 iterations
Cost is 417.596
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4056 iterations
Cost is 417.536
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 4652 iterations
Cost is 414.1
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5431 iterations
Cost is 412.575
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5456 iterations
Cost is 398.96
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8000 iterations
Cost is 398.96
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 3.625000 seconds
==================================================
World size: 1000
World type: 1
Version: 116
K: 20000
Number of cpus: 4
choose FOUR_OBS
===== Parallel version RRT*! =====
Starting RRT* Algorithm...
First Viable Solution Obtained after 3160 iterations
Cost is 1422.12
Saving the generated plan (vector of points)
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3165 iterations
Cost is 1420.16
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3275 iterations
Cost is 715.64
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 20000 iterations
Cost is 715.64
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 22.750000 seconds
==================================================
World size: 1500
World type: 1
Version: 117
K: 40000
Number of cpus: 4
choose FOUR_OBS
===== Parallel version RRT*! =====
Starting RRT* Algorithm...
First Viable Solution Obtained after 5379 iterations
Cost is 2285.55
Saving the generated plan (vector of points)
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 5549 iterations
Cost is 414.157
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 40000 iterations
Cost is 414.157
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 90.875000 seconds
==================================================
World size: 3000
World type: 1
Version: 118
K: 50000
Number of cpus: 4
choose FOUR_OBS
===== Parallel version RRT*! =====
Starting RRT* Algorithm...
First Viable Solution Obtained after 23789 iterations
Cost is 5554.58
Saving the generated plan (vector of points)
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 26068 iterations
Cost is 5552.35
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 26262 iterations
Cost is 3559.18
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 29391 iterations
Cost is 3557.52
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 29720 iterations
Cost is 3556.71
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 50000 iterations
Cost is 3556.71
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 118.375000 seconds
--------------------------------------------- End------------------------------------------------------