Receding Horizon Control with Extended Solution for UAV Path Planning

Table 4

Comparison of experimental results in unknown environment.

	RHC				RHC-eS
	Path length/m	Time/s	Path length/m	Time/s	Path length/m	Time/s
Case 4	142.8370	13.89	149.0365	18.54	142.8643	6.97
Case 5	162.8803	10.53	Not found	—	146.1122	13.15
Case 6	Not found	—	Not found	—	143.2894	6.58