A Bat Algorithm with Mutation for UCAV Path Planning

Table 3

Worst normalized optimization results on UCAV path planning problem on different Maxgen. The numbers shown are the worst results found after 100 Monte Carlo simulations of each algorithm.

Parameter			Algorithm
Popsize	Maxgen	𝐷	ACO	BA	BAM	BBO	DE	ES	GA	PBIL	PSO	SGA
30	50	20	18.7099	39.0832	11.7494	30.2785	25.3999	41.9676	10.2501	464.2014	28.6115	13.0102
30	100	20	18.4316	29.9962	9.7666	32.1868	18.6288	38.5875	8.2047	339.5171	25.7065	11.0529
30	150	20	17.4223	31.1293	7.6952	29.5695	13.8150	46.0828	10.5257	457.5577	29.6341	13.3517
30	200	20	17.2147	24.9732	6.7334	41.5292	10.4226	31.3944	6.7466	308.6347	33.0709	7.5385
30	250	20	16.9896	24.7175	3.3564	19.5894	8.9560	34.8908	8.9162	201.3705	27.3858	13.5830