Research Article
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 |
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