Multi-UAV Collaborative Path Planning Method Based on Attention Mechanism

Table 1

Training data schematic.

Serial no.	0	1	2	3	4
	0.128	0.9498	0.1891	0.2267	0.2715
	0.4532	0.4065	0.5248	0.0061	0.7013
	1	0.8	0.9	0.9	0.9
Serial no.	5	6	7	8	9
	0.2527	0.6383	0.8405	0.5754	0.0855
	0.5374	0.3824	0.9356	0.3803	0.3179
	0.8	0.7	0.8	0.7	0.7
Serial no.	10	11	12	13	14
	0.6551	0.8748	0.9738	0.5008	0.9691
	0.9123	0.8385	0.7627	0.839	0.592
	0.9	0.8	0.7	0.7	0.7
Serial no.	15	16	17	18	19
	0.5378	0.2525	0.6076	0.1459	0.5593
	0.5028	0.8478	0.848	0.1864	0.0544
	0.7	0.8	0.7	0.7	0.7