An Improved Method of Particle Swarm Optimization for Path Planning of Mobile Robot

Table 4

The first comparison of path length of five algorithms in the complex environment.

Algorithm	Longest path	Shortest path	Average path	Average time (s)
PSO	31.21	13.73	15.84	10.89
RandWPSO	22.49	13.07	13.67	15.10
TFPSO	26.50	13.00	14.00	16.22
NCFPSO	26.40	13.07	13.92	10.83
IPSO	22.44	12.84	13.38	9.70