A Bat Algorithm with Mutation for UCAV Path Planning

Table 5

Average CPU time on UCAV path planning problem on different Maxgen. The numbers shown are the minimum average CPU time (sec) consumed by each algorithm.

Parameter			Algorithm
Popsize	Maxgen	𝐷	ACO	BA	BAM	BBO	DE	ES	GA	PBIL	PSO	SGA
30	50	20	1.1477	1.2389	2.5415	0.7540	1.0830	1.1045	1.0068	0.5610	0.9389	0.9733
30	100	20	2.2752	2.5180	5.0720	1.5041	2.1782	2.2028	1.9875	1.0793	1.8632	1.9253
30	150	20	3.4043	3.7411	7.3826	2.2564	3.2397	3.2778	2.9604	1.5839	2.7619	2.8612
30	200	20	4.5337	4.9930	9.7353	3.0201	4.3053	4.3581	3.9755	2.0459	3.6100	3.7132
30	250	20	5.6563	6.1668	12.2422	3.6952	5.4137	5.3999	4.9278	2.6083	4.6532	4.7580