Research Article
Robot Path Planning Based on an Improved Salp Swarm Algorithm
Table 2
Test results for the 12 functions listed in Table
1.
| | Test function | Value types | SSA | WOA | PSO | ABC | CSSA | Proposed SSA |
| | Minimum | 7.27-29 | 9.27-34 | 8.23-24 | 2.39-17 | 4.26-34 | 7.23-38 | | Average | 9.45-29 | 4.26-34 | 7.92-23 | 8.93-17 | 1.28-34 | 1.58-38 | | Standard variance | 4.66-29 | 2.78-34 | 1.25-23 | 2.45-17 | 7.21-34 | 7.23-38 |
| | Minimum | 4.98-38 | 5.44-38 | 7.21-12 | 3.63-2 | 1.77-99 | 2.63-148 | | Average | 8.64-38 | 9.48-38 | 6.74-12 | 5.67-2 | 7.62-99 | 9.33-148 | | Standard variance | 7.58-38 | 6.55-38 | 7.25-12 | 4.23-2 | 5.38-99 | 8.47-148 |
| | Minimum | 4.29-23 | 5.11-68 | 9.27-21 | 3.47-10 | 9.26-70 | 2.46-115 | | Average | 3.24-23 | 1.27-68 | 1.31-21 | 6.26-10 | 1.86-70 | 8.77-115 | | Standard variance | 9.26-23 | 6.67-68 | 7.25-21 | 3.77-10 | 4.61-70 | 6.55-115 |
| | Minimum | 4.21-25 | 5.58-168 | 4.25-149 | 1.70-13 | 1.41-140 | 9.25-169 | | Average | 9.93-25 | 6.45-168 | 4.33-149 | 8.67-18 | 8.92-140 | 2.80-169 | | Standard variance | 8.45-25 | 7.22-168 | 9.75-149 | 5.49-18 | 7.20-140 | 5.39-169 |
| | Minimum | 6.72-26 | 9.76-68 | 2.43-25 | 5.12-12 | 5.80-70 | 9.24-112 | | Average | 7.28-26 | 2.73-67 | 1.73-24 | 7.48-11 | 2.62-69 | 1.50-111 | | Standard variance | 9.30-26 | 7.77-67 | 5.76-25 | 2.66-12 | 6.67-70 | 6.90-111 |
| | Minimum | 4.37-07 | 1.57-08 | 4.96-08 | 3.24-07 | 1.46-08 | 8.24-11 | | Average | 7.61-06 | 8.26-08 | 6.44-07 | 5.67-06 | 8.43-08 | 2.10-10 | | Standard variance | 2.78-08 | 3.21-08 | 8.33-07 | 3.22-06 | 3.49-08 | 3.94-10 |
| | Minimum | 7.22-04 | 4.37-09 | 8.66-07 | 4.33-03 | 8.25-13 | 2.43-18 | | Average | 5.46-03 | 8.26-08 | 1.45-06 | 5.55-02 | 2.82-12 | 9.44-13 | | Standard variance | 6.28-04 | 3.15-08 | 7.34-06 | 3.36-02 | 7.88-14 | 7.10-19 |
| | Minimum | 4.52-02 | 2.76-03 | 6.99-02 | 5.44-01 | 1.22-05 | 3.77-05 | | Average | 6.25-02 | 9.74-03 | 3.22-02 | 6.12-01 | 2.64-05 | 8.94-04 | | Standard variance | 1.13-04 | 3.44-04 | 4.54-02 | 5.33-01 | 6.74-05 | 6.60-05 |
| | Minimum | 9.95-02 | 9.33+01 | 7.26-15 | 5.66-12 | 6.53+01 | 2.73-15 | | Average | 7.24-01 | 9.66+01 | 5.31-14 | 7.81-11 | 8.98+01 | 1.54-14 | | Standard variance | 6.58-02 | 5.43-02 | 5.76-14 | 6.54-11 | 7.11-02 | 9.12-15 |
| | Minimum | 1.56-11 | 3.28-07 | 2.46-13 | 2.69-11 | 8.93-13 | 1.19-15 | | Average | 4.21-11 | 8.26-06 | 7.11-13 | 4.33-10 | 1.22-08 | 8.74-14 | | Standard variance | 8.72-11 | 4.33-06 | 2.36-13 | 5.36-10 | 5.69-11 | 4.63-12 |
| | Minimum | 5.46-07 | 5.74-05 | 1.93-11 | 5.43-07 | 4.44-02 | 9.56-34 | | Average | 8.23-07 | 8.73-05 | 5.86-10 | 6.72-07 | 2.44-01 | 1.72-30 | | Standard variance | 9.42-07 | 7.74-05 | 7.42-10 | 5.64-06 | 6.93-03 | 6.72-32 |
| | Minimum | 2.96-04 | 3.66-02 | 4.08-08 | 6.45-08 | 5.35+01 | 3.54-10 | | Average | 3.37-04 | 2.98-01 | 2.76-07 | 9.45-07 | 8.70+01 | 8.25-10 | | Standard variance | 4.29-04 | 2.16-02 | 5.45-08 | 7.73-08 | 4.24-01 | 4.77-11 |
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