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

Table 3

The path planning results of each algorithm in different scale problems.

Scale	Algorithm	Mean	Variance	Number of optimum paths	Number of turns
20 × 20	CACO algorithm	46.71	31.07	8	6
	ICACO algorithm	42.54	0	30	4
30 × 30	CACO algorithm	88.27	129.37	1	12
	ICACO algorithm	76.21	0.84	26	6