Optimization of Dynamic Obstacle Avoidance Path of Multirotor UAV Based on Ant Colony Algorithm

Table 1

Comparison of the results of different methods under the same initial conditions.

Project	Number of sudden obstacles	Number of replanning	Optimal replanning path length (m)	Simulation run time
Use fixed window	1	2	132.569	15.25687
Ant colony	2	5	150.089	27.54623
Replanning	3	8	161.258	37.26534
Adaptive window	1	1	125.605	13.82569
Ant colony	2	2	136.789	25.59299
Replanning	3	4	145.140	32.45474