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

Table 7

The statistical result of flight in the third scenario.

Situation	Algorithm	Distance (km)		Run time
Original planning	Improved A-Star	67.316	0.457	9.259
	LRTA-Star	71.909	0.521	16.746
	D-Star	82.339	0.639	19.468
Replanning	Improved A-Star	69.788	0.476	17.362
	LRTA-Star	73.520	0.570	28.732
	D-Star	84.825	0.698	34.085