Global Path Planning for Unmanned Surface Vehicle Based on Improved Quantum Ant Colony Algorithm

Table 3

Path data for different objectives.

Objective	Path length	Energy consumption	Path smoothness	Path safety index
Path length	41.87	12.38	18.85	26.89
Energy consumption	48.31	10.81	28.27	27.12
Path smoothness	43.63	11.95	14.14	15.51
Path safety	46.80	11.96	28.27	7.61