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

Table 3

Path planning results in environment 3.

Algorithms	Best fitness value	Mean fitness value	Worst fitness value	Average execution time	Standard deviation	Number of optimal iterations
CAPSO	1414.43	1429.83	1416.24	15.1812	0.9064	46
DEPSO	1695.77	1731.87	1697.76	41.0869	0.9968	73
FAPSO	1726.20	1823.28	1728.99	19.0295	1.3953	35
SPSO	1722.87	1802.55	1725.90	16.9308	1.5131	45
IWPSO	1814.76	1888.91	1816.82	26.6719	1.0275	74
MPSO	1610.44	1710.44	1613.83	19.4110	1.7239	80