Path Planning of Multirotor UAV Based on the Improved Ant Colony Algorithm

Table 4

Comparison tests of 20 × 20 simulation environment.

Algorithm name	Length of the path	Time consuming	Number of path grid	Number of convergent iterations
BACA	36.04	4.62	32	62
GA	39.45	4.65	30	70
IACA	30.47	3.97	26	46