An Improved Artificial Bee Colony Algorithm Based on Balance-Evolution Strategy for Unmanned Combat Aerial Vehicle Path Planning

Table 1

Information of threat installations in combat field.

Case number	Threat center location	Threat radius	Threat grade
1	[52,52]	10	2
	[32,40]	10	10
	[12,48]	8	1
	[36,26]	12	2
	[80,60]	9	3
	[63,56]	7	5
	[50,42]	10	2
	[30,70]	10	4
2	[0,200]	90	7
	[200,0]	90	7
	[50,50]	20	5
	[95,95]	20	5
	[150,150]	20	5
	[95,50]	20	6
	[50,95]	20	5
	[140,105]	20	6
	[105,140]	20	5
3	[30,20]	10	5
	[50,15]	21	5
	[65,55]	10	5
	[0,24]	17	5
	[50,80]	27	5
	[75,90]	10	5
	[100,70]	20	5
	[50,36]	11	5