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104    I.K. Nikolos et al.
























                                Fig. 7. The second test case for the coordinated UAV path planning



























                                 Fig. 8. The third test case for the coordinated UAV path planning


                           it was observed, the introduction of RBFN assistance resulted in a deeper
                           convergence (better final value of fitness function), compared to the original
                           DE. Both algorithms (the original DE and the RBFN assisted DE) were used
                           in order to solve the path planning problem for the aforementioned four test
                           cases, using the same parameters. In order to compare the effect of RBFN
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