A Heuristic Evolutionary Algorithm of UAV Path Planning

Table 1

The meaning of the parameters in this paper.

Parameter
	the security cost of the path
	the length cost of the path
	the smoothness cost of the path
	the effective cost of the path
	the length of the i th obstacle covering the path
	the total length of the path
	the number of obstacles on the path
	the number of points traversed by the path
	the coordinate of the nth traversal point
	the rotation angle of the path at the nth traversal point
	the energy consumption of UAV flying in a straight line
	the energy consumption of drones flying at corners
,	two weights