A Bat Algorithm with Mutation for UCAV Path Planning

Table 6

Best normalized optimization results on UCAV path planning problem on different 𝐷. The numbers shown are the best 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	200	5	10.1164	10.6909	4.3575	10.2341	4.3568	12.3746	5.2471	8.5576	5.6082	9.9596
30	200	10	7.4746	2.3600	1.3953	2.6157	1.3952	8.0656	1.5716	25.6821	2.1101	1.5498
30	200	15	9.8297	3.0757	0.6094	2.0896	0.6204	7.7408	0.8299	61.4656	3.2257	0.9700
30	200	20	10.0836	2.3950	0.4679	2.7765	0.4913	9.6276	0.8600	72.2897	2.3738	0.8426
30	200	25	11.5490	5.0173	0.4484	4.8474	0.6265	12.3169	1.5243	113.7537	2.3740	1.3743
30	200	30	13.8615	7.2470	0.4671	10.9403	1.1301	18.0090	1.7026	152.0173	3.6751	1.5147
30	200	35	16.9476	7.4484	0.4795	10.4147	1.2849	16.8613	2.1602	254.0060	5.4765	1.5319
30	200	40	17.6142	8.6500	0.6028	14.4997	3.9617	19.8244	2.4178	315.4459	5.5384	1.9406