Energy-Optimal 3D Path Planning for MAV with Motion Uncertainty

Table 2

Parameters used in the simulation.

Parameters	Traditional ACO	Proposed energy-optimal method
		Without drift characteristic	With drift characteristic
Grid size	20 × 20 × 10	20 × 20 × 10	20 × 20 × 10
Turning parameters (ω1, ω2, ω3)	4, 0, 0	4, 2, 2	4, 2, 2
Coefficients (λ1, λ2, λ3, λ4)	50, 50, 0, 0	50, 50, 30, 10	50, 50, 30, 10
Radius (R)	N/A	N/A	0.5
Variances (σy, σz)	N/A	N/A	0.05, 0.05
Coefficients (K)	100	100	100
Update factor (ε)	0.2	0.2	0.2