A Bat Algorithm with Mutation for UCAV Path Planning

Table 9

Average CPU time on UCAV path planning problem on different 𝐷. 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	200	5	1.93	1.87	3.58	1.26	2.03	2.13	2.21	1.19	2.27	2.12
30	200	10	2.86	3.08	5.28	1.86	2.64	2.88	2.83	1.46	2.79	2.81
30	200	15	3.61	3.92	7.61	2.31	3.47	3.60	3.43	1.76	3.31	3.34
30	200	20	4.50	4.95	9.83	3.02	4.24	4.33	3.93	2.10	3.73	3.84
30	200	25	5.57	5.83	12.06	3.37	5.00	4.96	4.43	2.43	4.22	4.39
30	200	30	6.44	7.30	14.40	3.86	5.58	5.84	4.91	2.75	4.70	4.90
30	200	35	7.30	8.39	16.84	4.46	6.23	6.63	5.65	3.14	5.16	5.39
30	200	40	8.34	9.60	19.34	4.97	6.71	7.34	6.06	3.38	5.68	5.96