A New Dynamic Path Planning Approach for Unmanned Aerial Vehicles

Figure 11

UAV path planning in one environment based on ACO 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