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

Table 4

Performances of the proposed algorithm in different grid sizes.

Grid size	20 × 20 × 10	40 × 40 × 20
Averaged path length (m)	9.642	9.186
Averaged climbing and descending rate (m/s)	0.138	0.117
Averaged minimum turning angle	47.39°	48.62°
Computing time (s)	3.802	31.122