Efficient Energy Flight Path Planning Algorithm Using 3-D Visibility Roadmap for Small Unmanned Aerial Vehicle

Table 4

Simulation results based on number of tests.

Number of tests	Proposed visibility roadmap			Grid method
	Energy	Distance	Heading changes	Energy	Distance	Heading changes
5	38,246	879.8	2.4	42,050	905.2	6.8
10	37,945	872.6	2.8	41,895	902.9	7.8
20	37,905	866.2	3.1	47,678	938.3	8
30	37,746	868	3.7	41,690	898.3	7.5
40	38,724	879.2	2.9	42,530	911.9	8.5
50	38,507	877.8	3.1	43,684	928.1	9.1

The energy unit is calculated in Joule, and the unit of distance is in meters. Map size is (meters) with 20 obstacles.