Grid-Based coverage path planning with NFZ avoidance for UAV using parallel self-adaptive ant colony optimization algorithm in cloud IoT

Journal of Cloud Computing

Advances, Systems and Applications

Table 16 Simulation experiment results in Gazebo on CPP model4

	BF	SP	WF	PSAACO
Planned completion time[sec]	441.03	385.64	436.42	349
Simulated completion time[sec]	466	414	462	373
completion time difference[sec]	24.97	28.36	25.58	24
Percentage of completion time difference	5.4%	6.9%	5.5%	6.4%