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

Table 3

Simulation results of the two methods.

Evaluations	Traditional ACO	Proposed energy-optimal method	With drift characteristic
		Without drift characteristic
Averaged path length/m	10.30	9.64	9.94
Averaged climbing and descending rate/m/s	0.23	0.14	0.16
Averaged minimum turning angle	41.46°	47.39°	43.94°