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

Table 4

Result of 𝜂3 curve (𝑛=3).

Problems		PSO-𝜀	PSO-DP	PSO-Δ	DMS-PSO-𝜀	DMS-PSO-DP	DMS-PSO-Δ
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
	ℎ	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
	ℎ	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
	ℎ	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	6.941𝐸−4	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
	ℎ	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
	ℎ	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
	ℎ	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
	ℎ	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	7.786𝐸−4	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
	ℎ	1	1	1	—	1	0