An Improved Differential Evolution Algorithm for Maritime Collision Avoidance Route Planning

Table 1

Benchmark functions and parameter setup.

Function	Expression	Search range	Optimum solution	Optimum value
Sphere				0
Axis parallel hyperellipsoid				0
Sum of different powers				0
Rosenbrock				0
Schwefel’s problem				0
Step function				0
De Jong’s function 4 (no noise)				0
Rastrigin				0