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

Table 7

Inference statistics in Scenario B.

Completion rate	RE-PPO	OMI-PPO	DRPAR-PPO	PPO
SR	79%	64%	60%	40%
TR	17%	31%	32%	47%
CR	4%	5%	8%	13%