Research on Global Path Planning of Robot Based on Ant Colony Algorithm and Gaussian Sampling

Table 11

Statistical Results of PSO, GA and S-IACO algorithms in Figure 8(a).

Ten simulation statistics
30 × 30 environment map (Figure 8(a))	Iterations
	Algorithm	1	2	3	4	5	6	7	8	9	10	Average
	PSO	49	52	48	50	49	47	49	50	49	51	49
	GA	53	55	51	52	54	53	53	54	54	51	53
	S-IACOA	36	37	32	35	36	35	36	35	33	34	35
	Path length (m)
	PSO	52.65	52.65	52.65	52.65	52.65	52.65	52.65	52.65	52.65	52.65	52.65
	GA	51.87	51.87	51.87	51.87	51.87	51.87	51.87	51.87	51.87	51.87	51.87
	S-IACOA	49.36	49.36	49.36	49.36	49.36	49.36	49.36	49.36	49.36	49.36	49.36
	Simulation time (s)
	PSO	10.87	10.95	10.57	11.83	10.52	11.08	11.29	10.66	10.59	10.62	11.89
	GA	11.89	12.86	12.55	12.98	12.35	12.73	12.65	12.62	12.53	12.48	12.56
	S-IACOA	9.22	9.23	8.94	9.02	9.25	8.92	8.87	9.11	8.99	9.13	9.10