A New Dynamic Path Planning Approach for Unmanned Aerial Vehicles

Figure 15

UAV path planning in another 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