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

Table 6

Inference statistics in Scenario A.

Completion rate	RE-PPO	OMI-PPO	DRPAR-PPO	PPO
SR	82%	66%	65%	43%
TR	15%	29%	30%	47%
CR	3%	5%	5%	10%