Research Article
Three-Dimensional Path Planning Method for Autonomous Underwater Vehicle Based on Modified Firefly Algorithm
Table 4
Experimental results in wide range.
| | Function | Term | AMFA | FA | PSO | GA |
| | Sphere | Best | 00E + 00 | 5.87E − 09 | 5.23E − 39 | 3.42E − 04 | | Mean | 00E + 00 | 4.00E − 03 | 8.73E − 35 | 1.71E − 03 | | STD | 00E + 00 | 2.15E − 02 | 2.16E − 34 | 1.52E − 03 | | “0” times | 30 | 0 | 0 | 0 |
| | Rosenbrock | Best | 00E + 00 | 5.95E − 07 | 2.58E − 02 | 2.88E + 00 | | Mean | 00E + 00 | 6.00E + 04 | 8.61E − 01 | 7.67E + 01 | | STD | 00E + 00 | 3.28E + 05 | 1.46E + 00 | 4.98E + 01 | | “0” times | 30 | 0 | 0 | 0 |
| | Rastrigin | Best | 00E + 00 | 6.11E − 05 | 2.98E + 00 | 1.99E + 01 | | Mean | 00E + 00 | 8.13E + 01 | 6.40E + 00 | 6.08E + 01 | | STD | 00E + 00 | 2.54E + 02 | 2.38E + 00 | 3.15E + 01 | | “0” times | 30 | 0 | 0 | 0 |
| | Griewank | Best | 00E + 00 | 4.05E + 02 | 00E + 00 | 4.85E − 04 | | Mean | 00E + 00 | 5.72E + 02 | 2.30E − 02 | 5.45E − 02 | | STD | 00E + 00 | 5.52E + 01 | 2.85E − 02 | 5.30E − 02 | | “0” times | 30 | 0 | 2 | 0 |
| | Ackley | Best | 0 | 3.57E − 05 | 2.13E − 14 | 4.10E − 03 | | Mean | 00E + 00 | 2.30E − 03 | 1.63E + 00 | 7.7E − 03 | | STD | 0 | 4.40E − 03 | 1.12E + 00 | 3.1E − 03 | | “0” times | 30 | 0 | 0 | 0 |
| | Zakharo | Best | 0 | 2.0E − 06 | 4.8E + 01 | 1.5E + 04 | | Mean | 1.5E − 322 | 1.5E − 01 | 3.3E + 02 | 3.0E + 04 | | STD | 0 | 7.6E − 01 | 2.8E + 02 | 6.2E + 03 | | “0” times | 5 | 0 | 0 | 0 |
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