Scientific Reports

Table 5 The total number of feasible paths, the mean value and standard deviation of each cost for all feasible paths obtain by MOJS and BMOJS when considering path length and threat cost as objective functions.

From: A UAV path planning method based on the framework of multi-objective jellyfish search algorithm

Scenario			Algorithm
Scenario			MOJS	BMOJS
Scenario 1	Total number		872	1460
	Path length	Mean	978.46	1018.45
	Path length	Std	95.29	150.77
	Threat cost	Mean	6.01	5.12
	Threat cost	Std	6.01	8.67
	Smooth cost	Mean	319.29	379.95
	Smooth cost	Std	102.14	183.15
	Altitude cost	Mean	404.91	419.01
	Altitude cost	Std	66.56	65.30
Scenario 2	Total number		536	551
	Path length	Mean	1099.03	1073.20
	Path length	Std	77.79	162.14
	Threat cost	Mean	7.85	11.09
	Threat cost	Std	7.20	9.89
	Smooth cost	Mean	397.16	358.50
	Smooth cost	Std	163.73	138.33
	Altitude cost	Mean	402.53	413.10
	Altitude cost	Std	40.35	65.06
Scenario 3	Total number		243	149
	Path length	Mean	1080.78	1006.39
	Path length	Std	200.04	140.36
	Threat cost	Mean	10.28	13.47
	Threat cost	Std	9.08	12.11
	Smooth cost	Mean	320.50	358.92
	Smooth cost	Std	65.90	116.87
	Altitude cost	Mean	451.49	409.05
	Altitude cost	Std	33.55	86.84

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