An Improved Artificial Bee Colony Algorithm Based on Balance-Evolution Strategy for Unmanned Combat Aerial Vehicle Path Planning

Table 2

The mean and standard deviations of cost function values.

Case number	MCN	𝐷	ABC		I-ABC		IF-ABC		BE-ABC
			Mean	S.D.	Mean	S.D.	Mean	S.D.	Mean	S.D.
1	500	20	49.8813	0.5976	54.3889	3.6656	49.7975	0.6393	48.9558	0.5957
	500	30	52.9887	1.4259	60.4591	3.2883	51.9396	1.3434	50.4567	0.6726
	500	50	59.9722	2.9133	80.1747	7.7575	59.9569	2.2149	54.9826	2.2310
2	1000	20	161.7459	2.5523	171.6983	2.1826	160.1839	0.9241	160.0276	1.5195
	1000	30	154.9276	2.5123	185.7927	3.7547	153.5837	0.4925	153.4103	0.5549
	1000	50	157.2044	3.6031	164.9908	2.8118	157.8147	1.9058	153.5245	1.0479
3	1000	20	73.5090	0.2486	73.7209	0.4729	73.0254	0.1079	72.8889	0.1403
	1000	30	73.9346	1.0134	74.8452	0.8904	73.6928	0.4083	70.0789	0.4634
	1000	50	78.8720	3.1422	81.8885	2.7718	77.4828	2.0989	75.8906	1.3950

Those bold values denote the best solutions (mean or S.D.) among four algorithms in every single case.