Research Article
An Improved Method of Particle Swarm Optimization for Path Planning of Mobile Robot
Table 2
Optimization results of five functions.
| | Function | Performance index | PSO | RandWPSO | TFPSO | NCFPSO | IPSO |
| | Ackley | Average value | 0.34 | 0.15 | 0.35 | 0.17 | 0.10 | | Best result | 0 | 0 | 0 | 0 | 0 | | Standard deviation | 1.45 | 1.14 | 1.52 | 1.22 | 0.97 | | Running time (s) | 0.31 | 0.46 | 0.43 | 0.51 | 0.31 |
| | Griewank | Average value | 130.56 | 19.33 | 45.80 | 98.19 | 8.00 | | Best result | 36.73 | 12.71 | 23.62 | 15.93 | 1.10 | | Standard deviation | 9.95 × 103 | 1.10 × 103 | 7.35 × 103 | 1.40 × 104 | 1.01 × 103 | | Running time (s) | 0.33 | 0.46 | 0.50 | 0.61 | 0.40 |
| | Rastrigin | Average value | 179.70 | 79.53 | 175.79 | 52.4226 | 47.54 | | Best result | 113.62 | 61.48 | 118.97 | 47.55159 | 34.09 | | Standard deviation | 3.64 × 103 | 6.52 × 102 | 3.62 × 103 | 1.10 × 103 | 2.21 × 102 | | Running time (s) | 0.25 | 0.34 | 0.37 | 0.26 | 0.24 |
| | Rosenbrock | Average value | 2.77 × 103 | 4.38 × 102 | 4.11 × 103 | 3.37 × 102 | 8.91 × 10−1 | | Best result | 5.67 × 102 | 7.95 × 102 | 6.00 × 102 | 2.22 × 102 | 2.86 × 101 | | Standard deviation | 4.51 × 106 | 2.52 × 106 | 9.64 × 106 | 4.73 × 105 | 2.38 × 105 | | Running time (s) | 0.21 | 2.40 | 3.98 | 0.24 | 0.23 |
| | Sphere | Average value | 2.70 × 10−1 | 2.10 × 10−2 | 1.20 × 10−2 | 2.65 × 10−2 | 5.8 × 10−3 | | Best result | 2.00 × 10−1 | 1.51 × 10−9 | 2.88 × 10−2 | 1.87 × 10−2 | 7.97 × 10−192 | | Standard deviation | 1.00 × 10−1 | 1.71 × 10−1 | 8.88 × 10−2 | 7.60 × 10−1 | 5.3 × 10−2 | | Running time (s) | 0.88 | 3.36 | 5.33 | 0.95 | 1.09 |
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