Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Table 2

Comparison between METHOD I and METHOD II.

Method	Agent	Item	Stage 4	Stage 5	Stage 6	Length of path	Winner
METHOD I		Distance	[223.6,262.4]	[100,223.6]	[0,120.8]	628.4	Pursuer
		Visual field	68.6	63.4	86.1
		Distance	[192.1,274.6]	[164.2,192.1]	[170.6,180.3]	314.2
		Visual field	446.2	316.4	338.5
METHOD II		Distance	[226.7,262.4]	[85.44,226.7]	[0,90.3]	654.8	Pursuer
		Visual field	83.3	71.4	47.2
		Distance	[192.1,274.6]	[126.8,192.1]	[100,126.8]	327.4
		Visual field	446.2	316.4	363.7