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

Table 4

The path planning result of ICACO-IDWA algorithm.

Scale	Random threat number	Cost	Total time (s)	Local path time (s)
				1	2	3	4	5	6	7
20 × 20	0	44.17	139.56	21.73	24.09	2.31	69.68	21.75	—	—
	1	43.75	153.54	21.73	39.96	2.24	67	22.61	—	—
	2	43.88	167.91	21.73	39.96	2.24	80.74	23.24	—	—
	3	45.07	175.63	21.73	39.96	2.24	88.35	23.35	—	—
30 × 30	0	76.70	235.62	40.51	36.22	23	26.03	6.95	87	15.91
	1	77.35	240.16	40.51	39.03	22.53	26.51	6.96	87.73	16.89
	2	78.26	266.58	40.51	55.54	25.96	25.4	7.16	95.82	16.19
	3	79.07	279.08	40.51	55.54	25.96	25.4	7.16	107.38	17.13