Path Planning Using a Hybrid Evolutionary Algorithm Based on Tree Structure Encoding

Table 2

Comparison in performance among the proposed hybrid approach, PSO, and GA for test environment I.

	Hybrid	PSO	GA
Initial tree size (number of nodes)	≤7	7	7
Number of valid paths	2979	2730	2934
Mean length of valid paths	311.9088	306.2684	314.4024
Standard deviation of valid paths	21.0225	13.9147	21.4342
Shortest valid path	295.5128	295.2754	295.5218
Average solution tree size (average number of nodes)	3.3283	7	7