Cubic Spline Interpolation-Based Robot Path Planning Using a Chaotic Adaptive Particle Swarm Optimization Algorithm

Table 1

Description of benchmark functions.

Characteristic	Function	Dim	Range	fmin
Unimodal functions		30	[−30, 30]	0
		30	[−30, 30]	0
		30	[−5.12, 5.12]	0
Multimodal functions		30	[−32, 32]	0
Fixed-dimension multimodal functions		2	[−5, 5]	0
		3	[−1, 3]