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

Table 6

Simulation results based on NYC Open Data.

Dataset number	Proposed visibility roadmap		Grid method
	Distance	Energy	Distance	Energy
NYC dataset 1	823.63	34,153	874.5	39,791
NYC dataset 2	907.1027	41,684	997.24	49,781
NYC dataset 3	785.006623	32,196	956	56,171