Efficient Energy Flight Path Planning Algorithm Using 3-D Visibility Roadmap for Small Unmanned Aerial Vehicle

Figure 10

Simulation of two pathfinding algorithms: (a) 5 obstacles; (b) 10 obstacles; (c) 15 obstacles; (d) 20 obstacles; (e) 25 obstacles; (f) 30 obstacles.

(a)

(b)

(c)

(d)

(e)

(f)