Receding Horizon Control with Extended Solution for UAV Path Planning

Table 6

Crossing and variation test data.

Test sequence	Crossover operator	Variation operator	Path length/m	Time/s
a	1	0	142.0581	14.91
b	0	1	148.6272	13.90
c	0.1	0	Not found	—
d	0	0.5	148.6423	11.69
e	0	0	Not found	—
f	0.1	0.5	142.2690	7.17