Online Path Generation and Navigation for Swarms of UAVs

Table 4

Comparison of the results with a UAV-based approach [17], a greedy heuristics and GA-based approach [11], and two sampling-based path planning algorithms called RRT [9], and RRT^∗ [10].

Approach	Experiment	RRT	LLR	NC	T (ms)
Proposed	1	17	36	0	670
	2	34	62	0	683
	3	20	47	0	642
	4	36	97	0	637
PSO	1	25	49	3	949
	2	54	71	1	894
	3	35	53	5	932
	4	34	91	5	793
Greedy and GA	1	26	47	1	600
	2	53	69	0	715
	3	36	56	4	714
	4	34	94	4	627
RRT	1	16	36	2	481
	2	29	58	4	598
	3	20	44	7	610
	4	34	86	5	599
RRT^∗	1	15	29	3	612
	2	27	58	4	721
	3	18	37	9	738
	4	30	89	13	688