Research Article
Comparison of Three Different Curves Used in Path Planning Problems Based on Particle Swarm Optimizer
| Problems | PSO- | PSO-DP | PSO- | DMS-PSO- | DMS-PSO-DP | DMS-PSO- |
| F1 | Mean | 15.1269 | 15.2927 | 15.8549 | 14.8915 | 15.2233 | 14.8945 | Std. | 0.2000 | 0.3962 | 0.6258 | 0.1053 | 0.2890 | 0.1533 | Min | 14.6743 | 14.6922 | 14.8753 | 14.6599 | 14.6810 | 14.6746 | Max | 16.4027 | 16.9510 | 17.1939 | 15.7512 | 16.5228 | 16.4695 | | 1 | 1 | 1 | — | 1 | 0 |
| F2 | Mean | 15.1828 | 15.8735 | 17.3363 | 14.8915 | 15.5943 | 14.7678 | Std. | 0.4999 | 0.5877 | 2.4413 | 0.1053 | 0.4150 | 0.0323 | Min | 14.6786 | 14.6978 | 15.0084 | 14.6599 | 14.6649 | 14.6682 | Max | 17.1109 | 17.5539 | 20.7949 | 15.7512 | 17.0959 | 15.5873 | | 1 | 1 | 1 | 0 | 1 | — |
| F3 | Mean | 16.9903 | 17.3458 | 17.8328 | 16.2678 | 17.13297 | 15.3092 | Std. | 0.3941 | 0.34185 | 1.5596 | 1.7428 | 0.1416 | 0.7615 | Min | 15.1838 | 15.7395 | 15.8694 | 14.7341 | 15.9525 | 14.7554 | Max | 17.6611 | 18.7940 | 20.4837 | 18.8251 | 17.4754 | 17.1826 | | 1 | 1 | 1 | 1 | 1 | — |
| F4 | Mean | 15.1503 | 16.2299 | 16.5532 | 14.7421 | 16.1149 | 15.0292 | Std. | 0.4168 | 1.0923 | 1.9814 | | 1.2537 | 1.8730 | Min | 14.7527 | 14.8084 | 14.9267 | 14.6988 | 14.7411 | 14.7161 | Max | 17.4512 | 18.0449 | 19.4632 | 14.8068 | 18.0394 | 21.5966 | | 1 | 1 | 1 | — | 1 | 0 |
| F5 | Mean | 16.8508 | 16.6488 | 16.9656 | 16.4054 | 16.5114 | 16.3798 | Std. | 0.2432 | 0.1425 | 0.1367 | 0.0569 | 0.0180 | 0.0037 | Min | 16.4201 | 16.3486 | 16.5099 | 16.3191 | 16.3300 | 16.3254 | Max | 17.8626 | 17.4785 | 17.9822 | 17.5422 | 16.9302 | 16.6216 | | 1 | 1 | 1 | 0 | 1 | — |
| F6 | Mean | 16.6472 | 16.5453 | 16.9163 | 16.2758 | 16.2548 | 15.7087 | Std. | 0.0727 | 0.1016 | 0.0788 | 0.3668 | 0.2496 | 0.32256 | Min | 15.4516 | 15.5077 | 16.6653 | 15.2211 | 15.2660 | 15.2387 | Max | 16.9744 | 16.9084 | 18.13603 | 17.0442 | 16.73439 | 16.7263 | | 1 | 1 | 1 | 1 | 1 | — |
| F7 | Mean | 16.6997 | 16.4166 | 16.8786 | 15.8356 | 16.1770 | 15.6007 | Std. | 0.0129 | 0.3524 | 0.0291 | 0.5831 | 0.2656 | 0.3273 | Min | 16.5565 | 15.1092 | 16.5886 | 15.0152 | 15.0720 | 15.0145 | Max | 16.8951 | 16.9036 | 17.3592 | 16.7376 | 16.7343 | 16.7801 | | 1 | 1 | 1 | 0 | 1 | — |
| F8 | Mean | 15.1227 | 14.9834 | 15.5447 | 14.6521 | 14.7546 | 14.6624 | Std. | 0.3083 | 0.2759 | 0.5752 | | 0.0216 | 0.0016 | Min | 14.6780 | 14.6695 | 14.7240 | 14.6327 | 14.6510 | 14.6180 | Max | 16.6986 | 16.6473 | 18.1863 | 14.7619 | 15.3003 | 14.7838 | | 1 | 1 | 1 | — | 1 | 0 |
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