A Collision Avoidance Method for Intelligent Ship Based on the Improved Bacterial Foraging Optimization Algorithm

Table 4

Running results of test functions.

Function name	Algorithm	The optimal position	The optimal value	Convergence
Schaffer	ACO	(−0.0688, 0.0689)	0.3123	10
	BFOA	(−0.0029,−0.0034)	−0.0043	140
	IBFOA	(0,0)	−2.5238E − 05	42
Rastrigrin	ACO	(−0.0953, 0.0954)	0.5039	20
	BFOA	(0.0126, −0.0145)	−0.0058	142
	IBFOA	(0, 0)	−2.5468E − 05	28
Griewank	ACO	(−0.1863, 0.1861)	2.4584	8
	BFOA	(0.0007, −0.0350)	0.0046	162
	IBFOA	(0, 0)	−1.1387E − 05	52
Ackley	ACO	(−0.2406, 0.2405)	3.2392	13
	BFOA	(0.0042, −0.0035)	0.0035	103
	IBFOA	(0, 0)	−1.1253E − 05	36