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

Table 5

The statistical result of flight in the second scenario.

Situation	Algorithm	Distance (km)		Run time
Original planning	Improved A-Star	65.192	0.429	6.053
	LRTA-Star	68.879	0.459	10.504
	D-Star	65.152	0.470	11.581
Replanning	Improved A-Star	70.425	0.446	9.827
	LRTA-Star	70.191	0.502	16.117
	D-Star	69.321	0.535	18.659