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

Table 4

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

	Hybrid	PSO	GA
Initial tree size (number of nodes)	≤7	7	7
Number of valid paths	2032	307	211
Mean length of valid paths	326.1601	300.8695	316.1638
Standard deviation of valid paths	31.3879	14.8971	17.1472
Shortest valid path	274.7688	283.5653	289.0466
Average solution tree size (average number of nodes)	5.9975	7	7