Team Robot Motion Planning in Dynamics Environments Using a New Hybrid Algorithm (Honey Bee Mating Optimization-Tabu List)

Table 1

Comparison between new algorithm versus ACO and PSO.

Problem	Number of Obs.	Number of Robots	ATPD			AUTD
			New algorithm	ACO	PSO	New algorithm	ACO	PSO
1	10	5	23.87	24.29	24.44	38.56	39.06	47.26
2	20	5	26.42	26.89	27.05	45.5	46.09	55.77
3	30	5	28.54	29.05	29.22	53.69	54.39	65.81
4	40	5	29.3	29.82	30.0	63.69	64.18	77.66
5	50	5	29.86	30.39	30.57	74.76	75.73	91.63
6	10	10	30.05	30.59	30.77	88.22	89.36	108.13
7	20	10	31.23	31.79	31.98	104.1	105.45	127.59
8	30	10	31.56	32.12	32.32	122.83	124.43	150.56
9	40	10	32.12	32.69	32.89	144.94	146.83	177.66
10	50	10	32.86	33.45	33.65	171.04	173.26	209.64
11	10	15	33.87	34.48	34.69	201.82	204.45	247.38
12	20	15	52.57	53.51	53.84	238.15	241.25	291.91
13	30	15	73.7	75.02	75.47	281.02	284.67	344.46
14	40	15	97.57	99.33	99.99	331.61	335.92	406.42
15	50	15	124.55	126.79	127.56	391.3	396.38	472.62
16	10	20	155.54	157.83	158.78	461.73	467.73	565.96
17	20	20	189.49	192.9	194.06	554.84	551.92	667.83
18	30	20	228.42	232.53	223.93	642.91	651.27	788.54
19	40	20	272.41	277.31	278.98	758.64	768.5	929.89
20	50	20	322.12	327.91	329.88	895.19	906.83	1097.27
21	10	25	378.29	385.1	387.41	1056.33	1070.06	1294.78
22	20	25	441.76	449.73	452.41	1246.47	1262.68	1527.84
23	30	25	513.48	605.23	525.86	1470.84	1489.96	1802.85
24	40	25	594.53	615.44	608.86	1735.59	1758.15	2127.36
25	50	25	686.12	698.47	702.66	2048	2024.62	2510.29
Average:			178.4	185.3	182.3	528.46	535.33	647.55