Table 3.

Deviation ratio (in %) with different number of UAVs

Number of UAVs	Deviation ratio (in %)
	Proposed HGJMFOA	GTMPSO	MPIPA	AFSAPPM	ACOACPPM
4	6.82	7.38	7.52	7.64	7.88
8	6.64	7.22	7.41	7.56	7.76
12	6.23	7.11	7.32	7.51	7.62
16	5.88	7.02	7.19	7.42	7.54
20	5.65	6.84	7.04	7.31	7.48
24	5.44	6.75	6.98	7.22	7.41
28	5.32	6.61	6.92	7.28	7.35
32	5.19	6.44	6.89	7.24	7.31
36	5.04	6.38	6.84	7.21	7.29
40	4.86	6.31	6.82	7.38	7.28