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

Table 4

Path planning results in environment 4.

Algorithms	Best fitness value	Mean fitness value	Worst fitness value	Average execution time	Standard deviation	Number of optimal iterations
CAPSO	18.4155	19.7854	20.0875	7.1129	0.8360	46
DEPSO	19.0657	20.8703	20.8497	15.9505	0. 8920	39
FAPSO	20.5181	22.4203	22.5167	13.9275	0.9993	35
SPSO	20.5665	22.8267	22.7347	9.4258	1.0841	41
IWPSO	20.3603	21.5655	22.3353	9.1382	0.9875	42
MPSO	18.8765	20.5745	21.2343	7.72038	1.1789	21