Representation Enhancement-Based Proximal Policy Optimization for UAV Path Planning and Obstacle Avoidance

Table 4

Success rate statistics in Scenario A.

Training step	ASN	AS	AN	SN
50K	31%	17%	12%	2%
100K	55%	28%	22%	5%
150K	72%	35%	28%	3%
200K	82%	44%	31%	6%