A Heuristic Evolutionary Algorithm of UAV Path Planning

Table 5

The result of using our proposed cost as a cost function.

Algorithm	Time (s)	Path length (10m)	Angle (degree)	Theoretical Cost (KJ)	Actual Cost (KJ)
GA	210.46	13.899	135	16.304	18.673
Our method	181.25	13.291	71.565	14.992	16.071