UAV Path Planning in Dynamical Environment: A Novel ICACO-IDWA Algorithm

Figure 10

Real-time path planning results. (a) Path planning results without random threat (20 × 20 scale map). (b) Path planning results without random threat (30 × 30 scale map). (c) Path planning results for 1 random threat (20 × 20 scale map). (d) Path planning results for 1 random threat (30 × 30 scale map). (e) Path planning results for 2 random threats (20 × 20 scale map). (f) Path planning results for 2 random threats (30 × 30 scale map). (g) Path planning results for 3 random threats (20 × 20 scale map). (h) Path planning results for 3 random threats (30 × 30 scale map).

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