Rapid Penetration Path Planning Method for Stealth UAV in Complex Environment with BB Threats

Table 3

The statistical result of flight in the first scenario.

Situation	Algorithm	Distance (km)		Run time
Original planning	Improved A-Star	62.372	0.408	5.372
	LRTA-Star	67.743	0.418	8.276
	D-Star	61.812	0.431	8.749
Replanning	Improved A-Star	67.415	0.417	7.508
	LRTA-Star	70.833	0.429	14.624
	D-Star	65.152	0.442	13.391