Table 4 Comparison of Algorithms on Different Maps.

From: Dynamic path planning of UAV with least inflection point based on adaptive neighborhood A* algorithm and multi-strategy fusion

Map

Algorithm

Total Turning Angle (\(^\circ\))

Time (s)

Distance (m)

Number of Turns

Min Dist. to Obstacle (m)

Smooth or not

Path Cost

Map 1

MSF-MTPO

181.53

0.42

28.71

3

1.68

Yes

0.071

Original A*

711.04

0.31

34.10

46

1.14

Yes

0.107

Improved A*

606.58

4.04

30.94

44

1.96

Yes

0.089

Improved RRT

3329.52

0.09

39

68

1.52

No

0.202

Improved PSO

247.65

4.96

28.55

15

1.59

No

0.077

ICSSA

402.56

0.72

31.23

18

1.17

No

0.091

BA

200.67

5.36

28.96

6

1.19

No

0.093

IWOA

692.79

1.43

31.82

37

0.27

Yes

0.180

MISAO

350.35

3.00

30.57

23

1.26

Yes

0.090

Map 2

MSF-MTPO

1179.68

1.99

35.31

6

1.22

Yes

0.100

Original A*

896.14

2.75

40.11

59

1.43

Yes

0.101

Improved A*

699.44

3.80

37.60

50

1.49

Yes

0.093

Improved RRT

5875.30

0.23

68

125

1.57

No

0.228

Improved PSO

243.48

4.31

34.99

18

0.78

No

0.102

ICSSA

540.94

2.20

37.44

26

1.67

No

0.087

BA

434.96

8.72

35.61

8

1.04

No

0.102

IWOA

381.48

4.46

35.98

28

0.97

Yes

0.097

MISAO

499.55

4.33

35.56

35

1.14

Yes

0.089

Map 3

MSF-MTPO

218.87

1.71

35.54

4

0.95

Yes

0.086

Original A*

807.60

2.67

38.29

57

1.38

Yes

0.103

Improved A*

688.68

3.66

37.53

48

1.30

Yes

0.101

Improved RRT

3698.96

0.11

47.50

82

1.56

No

0.194

Improved PSO

214.85

4.21

35.74

18

1.11

No

0.089

ICSSA

536.88

2.33

36.74

24

1.32

No

0.094

BA

390.56

3.96

36.98

12

0.94

No

0.097

IWOA

620.95

4.99

35.42

30

0.59

Yes

0.123

MISAO

1068.19

4.50

37.78

53

1.13

Yes

0.113

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