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

Table 8

Comparison results of different algorithms.

Algorithm type	Assessment value	Route length (KM)	Detection probability	Mean altitude (M)	Total calculation time (S)
					Initial path	Compress and smoothen	Altitude adjusting
Improved A*	0.130927	60.611	0	3528.9		0.129
					0.004	0.086	0.039
ACS	0.133615	61.678	0	3513.6		90.715
					110.265	110.265	110.265
GA	0.134115	59.898	0	3562.5		110.265
					110.142	0.092	0.031
Improved A*	0.207394	441.867	0	3963.8		1.51
					0.271	0.952	0.287
ACS	0.231413	446.073	0	4041.3		1396.646
					1394.478	1.957	0.211
GA	0.223132	450.576	0	3997.2		1769.705
					1766.738	2.732	0.235
Improved A*	0.273318	805.585	0	4201.2		3.268
					0.543	2.241	0.484
ACS	0.27901	793.658	0	4236.3		3652.089
					3643.819	7.717	0.553
GA	0.285504	799.532	0	4248.3		2944.994
					2931.554	12.793	0.647
Improved A*	0.27795	1521.588	0	3385.6		11.488
					3.63	6.915	0.943
ACS	0.280544	1496.949	0	3463.5		11541.301
					10848.625	31.539	1.137
GA	0.297615	1588.795	0	3398.7		7645.141
					7570.303	73.15	1.688