An Energy-Balanced Path Planning Algorithm for Multiple Ferrying UAVs Based on GA

Table 3

Comparison of GMDR.

	200 s	400 s	600 s	800 s	1000s	1200 s
TSPA	+925.9	+20.4	+115.2	+58.9	+92.1	+36.9
MTSPA	+50.1	+80.0	+45.1	+80.6	+50.5	+113.0
BMTSPA	-14.5	-6.4	+28.6	+0.6	+17.5	+11.3
EMTSPA	/	/	/	/	/	/