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

Table 2

Algorithm parameter setting.

Parameter	Scale	Number
	—	1.5
	—	7
	—	0.3
	—	1
	—	0.5
Ant number	20	55
	30	115
	50	355
Iteration number	—	100
	—	0.5