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

Table 4

Comparison between GPM and VMC for Example  1.

Method	𝑁𝑐	Number of optimization variables	Objective function value	Average planning time (s)	Ratio of the planning time (%)
GPM	10	(10×9+1)×2=182	1.776	12.31	—
	15	(15×9+1)×2=272	1.731	16.28	—
	20	(20×9+1)×2=362	1.698	20.31	—
	30	(30×9+1)×2=542	1.705	28.67	—
VMC	10	(10×1+1)×2=22	1.851	2.23	18.12
	15	(15×1+1)×2=32	1.840	2.46	15.11
	20	(20×1+1)×2=42	1.769	2.83	13.93
	30	(30×1+1)×2=62	1.731	3.18	11.09