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

Table 3

Three types of example data.

Examples	Map size	Task quantity	UAV launch position number	Threat number
1	[50, 50]	3	6	30
2	[100, 100]	5	10	50
3	[150, 150]	10	20	100