Multidepot UAV Routing Problem with Weapon Configuration and Time Window

Table 6

Experimental results for instances with 20 targets.

	No.	Initial solution	Final solution	Time; (s)	Impro.; (%)	Invoked percentages of neighborhood structures; (%)
						ED	TRC	WR	RNW	RCW	RWW
4 hanging points and load of 600 kg	31	9.29 × 10^6	7.99 × 10^6	25.08	14.06	14.96	19.45	22.51	13.57	12.61	16.89
	32	9.95 × 10^6	7.86 × 10^6	29.48	20.95	13.85	23.27	19.55	16.19	10.36	16.79
	33	9.52 × 10^6	7.53 × 10^6	30.99	20.86	16.81	25.79	19.06	17.31	11.47	9.56
	34	9.83 × 10^6	8.07 × 10^6	22.95	17.94	15.11	21.05	25.03	17.84	11.96	9.00
	35	9.09 × 10^6	7.28 × 10^6	27.39	19.82	12.11	21.15	25.34	11.45	9.83	20.12
	36	9.12 × 10^6	7.77 × 10^6	27.27	14.72	15.26	22.53	25.28	16.09	14.20	6.63
	37	1.01 × 10^7	8.76 × 10^6	25.81	13.79	15.49	23.81	22.07	10.52	11.49	16.63
	38	9.84 × 10^6	8.20 × 10^6	30.67	16.73	18.63	22.15	22.06	17.50	8.83	10.83
	39	8.89 × 10^6	8.01 × 10^6	27.86	9.96	13.65	27.04	22.04	16.33	10.36	10.59
	40	8.47 × 10^6	7.29 × 10^6	27.57	13.90	15.96	22.04	22.95	16.18	11.39	11.48
6 hanging points and load of 900 kg	41	1.20 × 10^7	9.60 × 10^6	30.70	20.60	11.62	27.00	18.25	17.18	11.49	14.46
	42	1.29 × 10^7	9.79 × 10^6	24.09	24.31	16.92	22.51	25.38	17.22	13.60	4.38
	43	1.33 × 10^7	9.34 × 10^6	22.89	30.09	18.46	23.41	12.80	15.21	17.79	12.34
	44	1.33 × 10^7	8.26 × 10^6	23.50	38.28	16.97	18.44	24.67	16.07	11.29	12.57
	45	1.19 × 10^7	9.12 × 10^6	26.76	23.52	16.07	22.29	23.09	12.16	11.54	14.85
	46	1.10 × 10^7	8.50 × 10^6	30.74	23.07	18.26	19.21	25.69	16.15	12.17	8.50
	47	1.27 × 10^7	8.56 × 10^6	25.03	32.66	16.38	21.77	21.93	17.11	13.04	9.77
	48	1.26 × 10^7	1.01 × 10^7	24.80	20.74	14.49	26.74	22.69	14.24	11.99	9.85
	49	1.18 × 10^7	8.49 × 10^6	26.08	28.57	18.57	27.77	22.50	13.33	14.57	3.26
	50	1.32 × 10^7	8.94 × 10^6	24.54	32.52	16.15	26.93	20.09	11.52	11.44	13.87
8 hanging points and load of 1200 kg	51	1.43 × 10^7	9.95 × 10^6	26.52	30.51	15.49	25.87	21.20	11.28	11.92	14.24
	52	1.52 × 10^7	9.48 × 10^6	30.54	37.89	18.06	25.97	24.02	8.00	15.44	8.52
	53	1.45 × 10^7	1.01 × 10^7	24.07	30.03	16.64	26.98	22.41	14.01	11.48	8.49
	54	1.37 × 10^7	8.37 × 10^6	27.08	39.04	16.72	26.59	21.11	12.01	12.21	11.36
	55	1.45 × 10^7	9.05 × 10^6	26.82	37.54	14.94	24.46	20.83	8.31	13.15	18.31
	56	1.44 × 10^7	9.57 × 10^6	27.77	33.48	17.16	24.76	23.44	10.91	17.25	6.49
	57	1.57 × 10^7	8.84 × 10^6	22.61	43.82	17.91	25.26	17.04	9.17	11.60	19.03
	58	1.52 × 10^7	7.09 × 10^6	29.85	53.48	15.55	27.12	18.33	17.31	10.01	11.69
	59	1.52 × 10^7	9.34 × 10^6	24.19	38.55	18.10	26.68	23.02	9.71	12.69	9.80
	60	1.57 × 10^7	1.01 × 10^7	30.57	35.82	18.22	23.98	17.40	9.48	10.67	20.27
Average				26.81	27.24