Path Planning Method for UUV Homing and Docking in Movement Disorders Environment

Table 2

Comparison between BPSO, LWPSO, EPSO, TVAC, and NPSO.

𝐹	𝐷	Average (standard deviation)
		BPSO	LWPSO	EPSO	TVAC	NPSO
𝑓1	10	4.7979𝑒−11; (1.1343𝑒−10)	3.2219𝑒−24; (1.0706𝑒−23)	8.7747𝑒−51; (3.408𝑒−50)	1.4826𝑒−54; (1.4770𝑒−53)	2.2681𝑒−78; (2.1874𝑒−77)
	30	5.3768; (4.3459)	4.0137𝑒−05; (5.926𝑒−05)	2.3219𝑒−12; (1.1495𝑒−11)	1.1062𝑒−10; (7.3302𝑒−10)	2.0175𝑒−23; (2.0172𝑒−22)
	50	2.8412𝑒+01; (4.5047)	0.2149; (0.1634)	2.2215𝑒−05; (3.5696𝑒−05)	0.0019; (0.0079)	7.6676𝑒−09; (5.7490𝑒−08)
	70	4.4685𝑒+01; (4.3454)	1.1727𝑒+01; (1.2113𝑒+01)	0.0192; (0.0238)	0.0609; (0.1033)	0.0010; (0.0082)
𝑓2	10	0.0013; (0.0018)	4.0624𝑒−08; (1.10659𝑒−07)	3.1542𝑒−15; (1.9686𝑒−14)	3.6072𝑒−27; (1.6376𝑒−26)	3.1897𝑒−27; (1.0275𝑒−26)
	30	2.0647𝑒+01; (7.9831)	3.7596; (2.0255)	0.5809; (0.3373)	0.0091; (0.0197)	0.0012; (0.0101)
	50	7.2982𝑒+01; (2.8263𝑒+01)	2.6189𝑒+01; (1.3125𝑒+01)	1.0295𝑒+01; (5.1265)	0.4883; (0.3021)	0.1684; (0.7178)
	70	1.4821𝑒+02; (4.6281𝑒+01)	6.9336𝑒+01; (3.3717𝑒+01)	2.9336𝑒+01; (1.0417𝑒+01)	2.7039; (1.0853)	0.8808; (1.3369)
𝑓3	10	5.6418; (1.092)	4.3037; (1.2401)	3.1701; (1.2637)	0.7262; (0.9490)	0.6790; (1.0522)
	30	1.2322𝑒+03; (9.4693𝑒+02)	4.2313𝑒+01; (2.6596𝑒+01)	3.1052𝑒+01; (1.7699𝑒+01)	2.3370𝑒+01; (1.9238)	2.2096𝑒+01; (5.8478)
	50	6.5575𝑒+03; (1.3919𝑒+03)	2.9054𝑒+02; (1.6229𝑒+02)	7.3894𝑒+01; (3.6633𝑒+01)	4.6563𝑒+01; (2.5861)	4.6325𝑒+01; (1.2231𝑒+01)
	70	1.1834𝑒+04; (1.9184𝑒+03)	5.2635𝑒+03; (4.0246𝑒+03)	2.0414𝑒+02; (7.4873𝑒+01)	7.5240𝑒+01; (1.2063𝑒+01)	8.0415𝑒+01; (2.9457𝑒+01)
𝑓4	10	5.1090; (3.0667)	3.6806; (1.7685)	3.8703; (1.7882)	0.9750; (0.9693)	2.0911; (1.2360)
	30	1.5696𝑒+02; (3.9880𝑒+01)	3.2291𝑒+01; (1.0059𝑒+01)	2.9948𝑒+01; (7.1988)	1.7282𝑒+01; (5.4892)	2.0219𝑒+01; (6.9868)
	50	3.8006𝑒+02; (3.5258𝑒+01)	7.5142𝑒+01; (2.5871𝑒+01)	6.1896𝑒+01; (1.5107𝑒+01)	3.6575𝑒+01; (9.4137)	4.3956𝑒+01; (1.1176𝑒+01)
	70	5.8512𝑒+02; (3.6592𝑒+01)	1.6259𝑒+02; (6.2498𝑒+01)	8.8994𝑒+01; (1.7553𝑒+01)	5.4198𝑒+01; (1.1482𝑒+01)	7.3153𝑒+01; (1.4861𝑒+01)
𝑓5	10	9.8646𝑒−05; (0.0009)	0.0041; (0.0096)	0.0017; (0.0055)	0; (0)	0; (0)
	30	0.1366; (0.1090)	0.0008; (0.0045)	0.0013; (0.0071)	1.0210𝑒−10; (1.0021𝑒−09)	2.3425𝑒−16; (8.3751𝑒−16)
	50	0.5856; (0.0891)	0.0027; (0.0021)	9.9034𝑒−05; (0.0009)	0.0001; (0.0007)	4.3243𝑒−10; (2.4063𝑒−09)
	70	0.6941; (0.0646)	0.0329; (0.0190)	0.0002; (0.0010)	0.0011; (0.0017)	1.1807𝑒−05; (4.5670𝑒−05)
𝑓6	10	5.8516𝑒−18; (2.5897𝑒−17)	2.2299𝑒−40; (1.6366𝑒−39)	2.0832𝑒−84; (1.6585𝑒−83)	2.5229𝑒−87; (1.1045𝑒−86)	1.6901𝑒−96; (1.6901𝑒−95)
	30	1.9895𝑒+02; (6.2708𝑒+02)	1.0418𝑒−06; (3.7845𝑒−06)	7.3163𝑒−18; (2.7837𝑒−17)	1.0483𝑒−39; (7.2123𝑒−39)	4.6820𝑒−50; (4.6820𝑒−49)
	50	1.9927𝑒+07; (7.1603𝑒+07)	1.8348𝑒+01; (4.8704𝑒+01)	0.0017; (0.0067)	6.5668𝑒−25; (3.1648𝑒−24)	4.3136𝑒−21; (4.2561𝑒−20)
	70	1.5637𝑒+13; (8.3656𝑒+13)	2.6886𝑒+08; (1.6837𝑒+09)	1.4973𝑒+04; (1.0807𝑒+05)	4.9509𝑒−19; (2.6306𝑒−18)	7.7603𝑒−13; (7.5801𝑒−12)