A New Dynamic Path Planning Approach for Unmanned Aerial Vehicles

Table 1

Performance evaluations on optimal planning paths between different methods.

Metric			Cost of mobile threats	Cost of path	Total cost
Set 1	Mobile and static threats	ACO algorithm	12.4028	17.6167	30.0194
		Our algorithm	2.8986	19.3137	22.2123
	Mobile threats	ACO algorithm	12.8763	16.7765	29.6528
		Our algorithm	12.3041	15.8794	28.1835
Set 2	Mobile and static threats	ACO algorithm	6.9403	11.7823	18.7226
		Our algorithm	2.7300	13.7539	16.4839
	Mobile threats	ACO algorithm	3.5272	12.3882	15.9155
		Our algorithm	2.5983	12.3882	14.9865
Set 3	Mobile and static threats	ACO algorithm	5.3881	15.5480	20.9361
		Our algorithm	2.2357	14.5539	16.7896
	Mobile threats	ACO algorithm	3.6721	14.5137	18.1858
		Our algorithm	2.3367	13.9480	16.2847