Penetration Planning and Design Method of Unmanned Aerial Vehicle Inspired by Biological Swarm Intelligence Algorithm

Table 7

Influence of different parameter values on the model.

Group number	Pheromone sensitive factor	Visibility sensitive factor	Threat factor	Volatilization coefficient	Total simulation steps	Route planning
1	2	0.5	5	0.2	525135	Excellent
	4	0.5	5	0.2	298642	Break constraints
	1	0.5	5	0.2	1064116	No optimal solution
2	2	0.5	5	0.2	525135	Excellent
	2	1	5	0.2	468228	Good
	2	0.25	5	0.2	497952	Good
3	2	0.5	5	0.2	525135	Excellent
	2	0.5	10	0.2	875172	Bad
	2	0.5	2.5	0.2	434537	Bad
4	2	0.5	5	0.2	525135	Excellent
	2	0.5	5	0.1	484755	Excellent
	2	0.5	5	0.4	490007	Common