A New Dynamic Path Planning Approach for Unmanned Aerial Vehicles

Figure 9

UAV path planning in one environment based on ACO algorithm. And there are both static and 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