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

Table 3

Result of 𝜂3 curve (𝑛=2).

Problems		PSO-𝜀	PSO-DP	PSO-Δ	DMS-PSO-𝜀	DMS-PSO-DP	DMS-PSO-Δ
F1	Mean	15.1590	15.3283	15.2681	14.9161	15.1670	14.8622
	Std.	0.3263	0.3658	0.4875	0.2284	0.1987	0.2007
	Min	14.6853	14.6728	14.6932	14.6608	14.6801	14.6614
	Max	16.98428	16.72636	17.6536	16.4115	16.2402	16.9015
	ℎ	1	1	1	0	1	—
F2	Mean	15.0589	15.0396	15.7143	14.7317	14.9698	14.9601
	Std.	0.4267	0.2972	1.4186	0.0902	0.1457	0.4676
	Min	14.6589	14.6626	14.7605	14.65536	14.6640	14.6555
	Max	16.2536	16.3979	19.6726	16.1707	16.2063	17.2056
	ℎ	1	1	1	—	1	0
F3	Mean	16.9309	16.7421	16.6452	16.2764	16.7070	15.8886
	Std.	0.3723	0.5148	0.8288	0.8953	0.3677	0.2801
	Min	15.6267	15.6372	15.6718	15.6049	15.7619	15.6068
	Max	17.4024	17.3621	19.6036	18.6914	17.3590	17.3939
	ℎ	1	1	1	0	1	—
F4	Mean	15.1204	15.6049	15.0711	15.8886	15.3697	14.9027
	Std.	0.2261	0.7872	0.0990	0.2801	0.4204	0.4031
	Min	14.7725	14.7932	14.7791	15.6068	14.7799	14.7403
	Max	15.8243	18.1527	15.9261	17.3939	16.7863	17.9495
	ℎ	1	1	1	—	1	0
F5	Mean	16.5948	16.4176	16.61561	16.4206	16.4134	16.4329
	Std.	0.1251	1.910𝐸−4	0.1206	0.0097	1.865𝐸−4	0.0102
	Min	16.4121	16.4029	16.4001	16.3722	16.3787	16.3842
	Max	17.6328	16.4500	17.5537	16.8877	16.4457	16.9001
	ℎ	1	0	1	0	—	0
F6	Mean	16.6868	16.6765	16.7663	16.5985	16.5424	16.0209
	Std.	0.0188	0.0731	0.0481	0.1177	0.1248	0.3553
	Min	16.1306	15.4302	15.8551	15.4915	15.4417	15.3031
	Max	16.9352	16.9246	16.9671	16.9530	16.7489	16.8915
	ℎ	1	1	1	1	1	—
F7	Mean	16.5802	16.3344	16.4030	16.2061	15.9442	15.6069
	Std.	0.2244	0.45243	0.3946	0.4480	0.4248	0.3488
	Min	15.2971	15.2954	15.3358	15.2914	15.2947	15.2917
	Max	16.9642	16.8365	16.9896	16.8971	16.8196	16.8491
	ℎ	1	1	1	1	0	—
F8	Mean	15.4772	15.0808	15.5568	15.1574	15.0251	15.0064
	Std.	0.5238	0.0665	0.4020	0.2922	9.807𝐸−4	4.680𝐸−4
	Min	15.0152	14.9885	15.0526	14.9821	14.9887	14.9863
	Max	16.9498	16.3030	16.9771	16.9514	15.0988	15.0621
	ℎ	1	0	1	0	1	—