Comparison of Three Different Curves Used in Path Planning Problems Based on Particle Swarm Optimizer

Table 1

Result of Bezier curve.

Problems		PSO-𝜀	PSO-DP	PSO-Δ	DMS-PSO-𝜀	DMS-PSO-DP	DMS-PSO-Δ
F1	Mean	14.9058	15.1830	14.8969	14.9294	14.7792	14.7559
	Std.	0.2910	0.4454	0.0282	0.4494	0.0500	0.0087
	Min	14.6726	14.6638	14.6969	14.6547	14.6566	14.6626
	Max	16.9975	16.9843	15.2326	17.1550	15.7071	15.0132
	ℎ	0	1	1	0	0	—
F2	Mean	14.7260	15.6209	15.1451	14.6492	14.7087	14.6486
	Std.	0.0034	1.8989	0.1415	0.00039	0.0034	0.0002
	Min	14.6533	14.6889	14.8150	14.6251	14.6274	14.6242
	Max	14.8920	19.4449	16.2972	14.7009	14.8882	16.3361
	ℎ	0	1	1	0	1	—
F3	Mean	15.9481	16.7858	16.5723	14.9475	16.3286	14.9701
	Std.	1.1006	1.1209	0.9196	0.2976	0.4483	0.1306
	Min	14.8502	15.7943	15.1810	14.7240	15.6394	14.7290
	Max	18.8319	18.7404	19.0984	17.2080	17.2206	15.7963
	ℎ	1	1	1	—	1	0
F4	Mean	14.8243	15.9185	15.4251	14.7366	15.0635	14.7363
	Std.	0.0407	1.5323	1.2592	8.586𝐸−5	0.2979	1.451𝐸−5
	Min	14.7430	14.7225	14.7851	14.7150	14.7151	14.7313
	Max	15.7812	18.1838	19.8821	14.7713	17.3141	14.7455
	ℎ	1	1	1	0	1	—
F5	Mean	16.5000	16.6254	16.4928	16.3466	16.3800	16.3361
	Std.	0.0544	0.1889	0.0048	0.0007	0.0029	0.0012
	Min	16.3327	16.3102	16.3666	16.2868	16.3246	16.2827
	Max	17.3413	17.9407	16.6432	16.4001	16.5518	16.4123
	ℎ	0	1	1	0	1	—
F6	Mean	16.2485	16.4073	16.2432	15.3892	16.1031	15.2860
	Std.	0.3219	0.2167	0.2125	0.2282	0.3366	0.0103
	Min	15.3576	15.2832	15.5306	15.2319	15.2461	15.2400
	Max	16.6793	16.6649	16.8466	17.2616	16.6399	15.7535
	ℎ	1	1	1	0	1	—
F7	Mean	16.2040	16.4125	16.4490	15.1967	15.9038	15.2458
	Std.	0.4474	0.3349	0.2576	0.1794	0.5311	0.2027
	Min	15.1081	15.1079	15.1656	15.0355	15.0516	15.0504
	Max	16.6948	16.8264	16.9785	16.6090	16.6292	16.9341
	ℎ	1	1	1	—	1	0
F8	Mean	15.0239	15.2377	14.8827	14.6644	14.6787	14.6699
	Std.	0.5322	0.6693	0.0905	0.0003	0.0011	0.0003
	Min	14.6303	14.6327	14.6697	14.6291	14.6262	14.6296
	Max	16.6699	16.6459	16.2430	14.7046	14.7831	14.7093
	ℎ	1	1	1	—	0	0