Yuan Zuo

Aug 2, 2023 | mdpi.com | Chen Zhang |Wen Yao |Yuan Zuo |Hongliang Wang

5. Numerical SimulationIn the simulation, there are 32 UAVs in total, and UAVs move in the 3D urban environment with dense buildings. The size of the urban environment is 50 m × 50 m × 30 m. The starting positions of UAVs and the positions of obstacles are randomly generated in each experiment. The simulation duration is 200 steps. The parameters of our method are shown in Table 1. The flight process of UAVs in the urban environment is shown in Figure 6.