Table 3 Description and value of the HL-ACO algorithm parameters
From: UAV cooperative search in dynamic environment based on hybrid-layered APF
Parameter name | Parameter value | Parameter description |
|---|---|---|
\(k_{\mathrm{srp}}\)Â Â | 3 | Search repulsion field constant |
\(\beta\) | 0.9 | Time decay factor of search repulsion field |
\(k_{\mathrm{trp}}\)Â Â | 20 | Threat repulsive field constant |
\(d_{\mathrm{max}}\)Â Â | 3 | Radius of action of threat repulsive field |
inf(s_map) | 0.1 | Infimum of search map |
\(\tau\) | 0.9 | Time decay factor of search map |
\(\gamma\) | 0.2 | Threat search map constant |
\(w_{p0}\) | 10 | Search map coefficient |
\(w_{p1}\) | 0.1 | Distance coefficient |
\(w_{p2}\) | 1 | Field coefficient |