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

Table 7

The results in the battlefield environment.

Waypoints number	Route length (KM)	Detection probability	Mean altitude (M)	Total calculation time (S)
				Initial path	Compress and smoothen	Altitude adjusting
22	143.436	0.0019	3953.1		0.483
				0.093	0.308	0.082
71	513.648	0.0023	4655.4		2.361
				0.77	1.264	0.327
111	865.65	0.0017	5133.7		6.048
				2.732	2.871	0.445
215	1592.591	0.0011	3750.4		19.146
				11.998	6.127	1.021