Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Table 1

Relationship between the movement of and waypoints in unit period.

Waypoints				…
Speed
	1 step	2 steps	3 steps	…
	2 steps	4 steps	6 steps	…
	3 steps	6 steps	9 steps	…