Mission Planning for Unmanned Aerial Vehicles Based on Voronoi Diagram-Tabu Genetic Algorithm

Table 2

Comparison of the fitness values.

Algorithm	Base coordinates	Distance
Initial plan	(1, 8), (5, 6), (4, 7)	448.2192
V-PSO	(1, 3), (4, 7), (6, 8)	425.8619
V-TAGA	(2, 5), (3, 4), (7, 8)	404.2302