Optimization of Base Location and Patrol Routes for Unmanned Aerial Vehicles in Border Intelligence, Surveillance, and Reconnaissance

Table 4

Algorithm comparison in cases of three scales.

Case Scale	H1-NS			H2-NS
	Cost of feasible solution	Cost of improved solution	Time /-2 (s)	Cost of feasible solution	Cost of improved solution	Time /-2 (s)
5 stations & 20 targets	348882	300435	2.325	336890	238473	3.928
	386308	336416	2.392	362091	263009	3.815
	372992	274386	2.463	336496	189061	3.786
	322293	273432	2.313	287293	239058	3.682
	372327	276420	2.342	325443	179350	3.871
	372439	274322	2.335	336807	238975	5.487
	372369	273543	1.892	337965	240234	3.635
	361322	261822	2.247	348843	250545	3.670
	372538	322555	2.327	336976	237811	3.787
	384262	285167	2.196	336890	237784	3.811
20 stations & 50 targets	842265	692451	3.037	793872	544058	6.950
	731291	631663	3.081	681403	531504	6.895
	792129	592620	4.232	754694	505265	6.627
	730762	631054	3.064	670777	471234	7.285
	730340	630746	3.149	681039	481442	7.002
	856295	656052	3.173	792201	492593	7.867
	807587	608259	3.128	733063	483691	7.419
	804006	654817	3.503	719919	520651	7.432
	828288	628671	3.385	732245	482620	7.494
	804770	655033	2.620	719798	570285	7.242
50 stations & 100 targets	1340095	1028130	1.040	1196218	791338	4.590
	1272888	923026	0.993	1219406	819554	4.819
	1314565	952735	1.061	1143538	843628	4.490
	1396086	946150	1.073	1308837	858909	4.931
	1197487	897623	1.064	1075171	725519	5.414
	1430365	1091920	1.012	1368315	818606	4.525
	1331166	1031168	1.049	1219333	819335	4.508
	1354155	1004220	1.000	1208915	809037	4.550
	1418603	1080944	1.029	1319784	869953	4.446
	1343357	943478	1.023	1256920	807064	4.897