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

Table 5

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

Algorithm	Longest path	Shortest path	Average path	Average time (s)
PSO	25.66	13.59	15.30	11.14
RandWPSO	28.86	13.07	13.76	15.07
TFPSO	25.62	13.12	14.41	16.42
NCFPSO	23.41	13.04	13.67	11.07
IPSO	21.72	12.84	12.96	10.00