A Virtual Motion Camouflage Approach for Cooperative Trajectory Planning of Multiple UCAVs

Table 3

Performance comparison with the increase of the number of UCAVs.

Number of UCAVs (𝑁𝑣)	Number of optimization variables	Average planning time (s)	Ratio of the planning time (%)
1	(20×1+1)×1=21	2.21	—
2	(20×1+1)×2=42	2.83	128.05
3	(20×1+1)×3=63	3.32	150.23
5	(20×1+1)×5=105	4.93	223.08
8	(20×1+1)×8=168	7.70	348.42
10	(20×1+1)×10=210	9.62	435.29