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

Table 5

Simulation results based on map size.

Map size/number of obstacles	Proposed visibility roadmap		Grid method
	Distance	Energy	Distance	Energy
	187.76		439.33
	303.75		489.11
	604.03		693.65
	820.83		875.4
	1172.2		1296.7
	1696.9		1710.1

The energy unit is calculated in Joule, and the unit of distance is in meters. These are normalized values after five stochastic runs.