Research Article
UAV Path Planning under Dynamic Threats Using an Improved PSO Algorithm
Table 5
Mean costs and standard deviations for 20 test cases with 50 Monte Carlo simulations.
| | Test case | Proposed PSO | Standard PSO | Traditional PSO | Voronoi+Dijkstra | | Mean | Std. | Mean | Std. | Mean | Std. |
| | Short-range | 1 | 10866 | 327 | 14235 | 2267 | 22219 | 23504 (4) | 20378 | | 2 | 11350 | 216 | 16119 | 1915 | 23805 | 25718 (5) | 17307 | | 3 | 10749 | 456 | 13181 | 1150 | 19171 | 20889 (3) | 21756 | | 4 | 15157 | 769 | 18563 | 1666 | 26258 | 24972 (5) | 21965 | | 5 | 10537 | 401 | 11768 | 646 | 13784 | 12641 (1) | 17178 | | 6 | 12608 | 360 | 17257 | 3308 | 30082 | 26381 (6) | 18965 | | 7 | 14386 | 683 | 21110 | 2723 | 26822 | 19301 (3) | 22642 | | 8 | 11195 | 598 | 13923 | 1306 | 20808 | 23666 (4) | 17075 | | 9 | 13491 | 540 | 14343 | 717 | 21262 | 23528 (4) | 20666 | | 10 | 10738 | 165 | 13077 | 1528 | 26392 | 30103 (7) | 19016 | | Long-range | 1 | 18778 | 603 | 91193 | 22125 (43) | 57775 | 34965 (20) | 25905 | | 2 | 22083 | 16079 (2) | 65456 | 34974 (25) | 51606 | 36769 (18) | 26516 | | 3 | 18075 | 720 | 80254 | 32012 (36) | 33759 | 24915 (6) | 26599 | | 4 | 20048 | 444 | 77579 | 31665 (33) | 43302 | 28814 (10) | 26974 | | 5 | 16785 | 252 | 66009 | 37244 (27) | 32543 | 27653 (7) | 23331 | | 6 | 19348 | 326 | 79772 | 31287 (35) | 45494 | 31164 (12) | 24194 | | 7 | 17464 | 425 | 85126 | 28380 (39) | 50753 | 35890 (17) | 24646 | | 8 | 15881 | 341 | 54988 | 37221 (20) | 36265 | 30304 (9) | 21285 | | 9 | 17307 | 328 | 65143 | 36748 (26) | 38562 | 31154 (10) | 25634 | | 10 | 17629 | 620 | 80749 | 31246 (36) | 39058 | 29049 (9) | 22688 |
|
|
