Efficient UAV Path Planning with Multiconstraints in a 3D Large Battlefield Environment

Table 5

The comparison results.

Assessment value	Route length (KM)	Detection probability	Mean altitude (M)	Total calculation time (S)
				Initial path	Compress and smoothen	Altitude adjusting
0.133043	60.4	0	3542.2		0.169
				0.012	0.121	0.036
0.129928	60.611	0	3528.9		0.129
				0.004	0.086	0.039
0.207789	59.932	0	3907.2		0.104
				0.002	0.065	0.037
0.346597	487.291	0	4347.6		4.462
				3.19	0.941	0.331
0.207219	441.867	0	3963.8		1.51
				0.271	0.952	0.287
0.395662	427.289	0	4707.4		1.138
				0.086	0.774	0.278
0.450168	853.568	0	4689.2		13.063
				9.916	2.693	0.454
0.273318	805.585	0	4201.2		3.268
				0.543	2.241	0.484
0.328756	778.665	0	4414.6		2.202
				0.068	1.684	0.45
0.323873	1591.054	0	3615.2		52.065
				44.584	6.538	0.788
0.27795	1521.588	0	3385.6		11.488
				3.63	6.915	0.943
0.294937	1399.922	0	3808.5		7.251
				0.79	5.763	0.698