A New Dynamic Path Planning Approach for Unmanned Aerial Vehicles

Figure 10

UAV path planning in one environment based on our proposed algorithm. And there are only mobile threats where (a) is an entire path and (b) to (e) are paths with iterations = 100, 200, 300, 400.

(a) Entire path

(b) k=100

(c) k=200

(d) k=300

(e) k=400