Table 6 The parameter settings of route planning
Parameter | Group 1 | Group 2 |
|---|---|---|
The starting point | (0,0) | (0,0) |
The UAV flight area | 7*10Â km | 7*10Â km |
\(l_{kmax}\) | 15Â km | 15Â km |
\(l_{kmin}\) | 100Â m | 100Â m |
\(\theta _{kmax}\) | 60 | 60 |
\(P_k\) | 100 | 100 |
\(\mu _k\) | 0.3 | 0.3 |
\(\sigma\) | 1.0 | 1.0 |
The weight coefficient | 0.9 | 0.9 |
The learning factor | 2 | 2 |
The number of threat areas | 3 | 5 |
Target points | (1.5,8.9) | (5.0,6.5) |
Iterations | 200 | 200 |
Independent runs | 50 | 50 |