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

Table 6

The comparison of different weights.

Assessment value	Route length (KM)	Detection probability	Mean altitude (M)	Total calculation time (S)
				Initial path	Compress and smoothen	Altitude adjusting
0.189288	58.95	0	3846.1		0.132
				0.004	0.091	0.037
0.130927	60.611	0	3528.9		0.129
				0.004	0.086	0.039
0.27982	59.201	0	4264.2		0.135
				0.003	0.084	0.042
0.379233	413.297	0	4687.7		1.121
				0.103	0.764	0.254
0.207394	441.867	0	3963.8		1.51
				0.271	0.952	0.287
0.436574	423.076	0	4872.4		1.364
				0.088	0.983	0.293
0.413541	751.683	0	4720.5		2.316
				0.261	1.643	0.412
0.273318	805.585	0	4201.2		3.268
				0.543	2.241	0.484
0.482125	769.564	0	4910.8		2.58
				0.179	1.875	0.526
0.285577	1342.626	0	3856.8		6.137
				1.327	4.112	0.698
0.27795	1521.588	0	3385.6		11.488
				3.63	6.915	0.943
0.310799	1398.655	0	3942.2		7.743
				1.158	5.371	1.214