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