Research Article
Three-Dimensional Path Planning Method for Autonomous Underwater Vehicle Based on Modified Firefly Algorithm
Table 2
Experimental results in a small range.
| Function | Term | AMFA | FA | PSO | GA |
| Sphere | Best | 0 | 5.20E − 09 | 5.05E − 41 | 9.64E − 07 | Mean | 5.58E − 13 | 2.76E − 06 | 1.75E − 36 | 4.91E − 06 | STD | 1.73E − 12 | 3.58E − 06 | 9.19E − 36 | 4.56E − 06 | “0” times | 22 | 0 | 0 | 0 |
| Rosenbrock | Best | 0 | 3.66E − 07 | 1.27E − 02 | 7.8507 | Mean | 2.38E − 06 | 6.70E − 05 | 2.17E − 01 | 51.3280 | STD | 4.34E − 07 | 1.07E − 04 | 0.75 | 29.7729 | “0” times | 21 | 0 | 0 | 0 |
| Rastrigin | Best | 00E + 00 | 1.98E − 07 | 1.00 | 43.78 | Mean | 00E + 00 | 9.81E − 06 | 4.88 | 58.04 | STD | 00E + 00 | 1.70E − 04 | 2.24 | 8.28 | “0” times | 30 | 0 | 0 | 0 |
| Griewank | Best | 00E + 00 | 1.35E − 10 | 00E + 00 | 1.14E − 07 | Mean | 3.20E − 11 | 5.36E − 07 | 5.6E − 03 | 2.30E − 02 | STD | 1.12E − 10 | 8.51E − 07 | 8.3E − 03 | 4.40E − 02 | “0” times | 26 | 0 | 7 | 0 |
| Ackley | Best | 0 | 3.16E − 05 | 1.42E − 14 | 1.34E + 00 | Mean | 1.75E − 07 | 3.12E − 04 | 3.02E − 01 | 2.34E + 00 | STD | 7.23E − 07 | 2.69E − 04 | 5.68E − 01 | 3.71E − 01 | “0” times | 21 | 0 | 0 | 0 |
| Zakharo | Best | 00E + 00 | 1.7E − 07 | 4.6E − 06 | 9.8E + 01 | Mean | 1.6E − 06 | 2.4E − 03 | 6.7E − 05 | 1.8E + 02 | STD | 9.0E − 06 | 3.8E − 03 | 6.8E − 05 | 4.6E + 01 | “0” times | 4 | 0 | 0 | 0 |
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