Table 4: Comparison between travelled distance using PSO-PID, ABC-PID, FA-PID, and S.F.L.C.

Figure 15Figure 16Figure 18

PSO-PID5.5653.5851.83

ABC-PID5. 45253.36751.35

FA-PID5. 09253.151.125

S.F.L.C.3.8432.7840.936