A Bat Algorithm with Mutation for UCAV Path Planning

Table 7

Worst normalized optimization results on UCAV path planning problem on different 𝐷. 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	200	5	12.6928	295.2557	10.2403	119.9434	9.7959	62.1765	20.1888	22.9251	13.3267	22.6326
30	200	10	18.2565	58.7386	10.7242	42.1924	12.4821	74.6665	6.3799	64.0778	23.2604	5.7899
30	200	15	10.9917	35.7454	10.1928	34.8307	12.5250	50.3214	8.1499	119.2700	28.0228	9.9385
30	200	20	17.0266	33.7068	3.7420	32.1908	18.8897	38.7234	9.4820	254.0913	34.7133	11.6024
30	200	25	12.2373	24.9265	3.5192	30.9943	17.1415	33.4598	12.7971	593.9572	31.6741	16.0736
30	200	30	14.4647	30.0844	10.2851	61.7204	29.6529	37.4566	22.1291	2011	35.6656	14.0512
30	200	35	18.7271	32.7374	8.8193	37.9424	39.4435	46.6475	24.4790	8424.28	38.0578	15.6693
30	200	40	27.0641	33.2634	8.4273	49.5461	45.4130	44.3624	19.2098	8856.06	35.5090	22.5022