Self-Navigating UAVs for Supervising Moving Objects over Large-Scale Wireless Sensor Networks

Table 4

Average reduction of searching time, flying distance, and tracking deviation observed in our proposed WSN-assisted navigation, compared to self-adaptive and PSO strategies.

Strategy	Searching time (s)	Flying distance (km)	Tracking deviation
PSO team	194.32	2.82	5.06
Self-adaptive team	161.92	2.37	4.28
Self-nav.	136.64	1.93	0.84
Reduction from PSO	29.68%	31.56%	83.40%
Reduction from self-adapt.	15.61%	18.57%	80.37%