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

Table 12

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

Ten simulation statistics
30 × 30 environment map (Figure 8(b))	Iterations
	Algorithm	1	2	3	4	5	6	7	8	9	10	Average
	PSO	48	50	50	47	48	50	46	47	49	49	48
	GA	52	52	53	53	55	52	52	53	53	52	53
	S-IACOA	36	35	32	33	37	34	35	34	35	37	35
	Path length (m)
	PSO	52.79	52.79	52.79	52.79	52.79	52.79	52.79	52.79	52.79	52.79	52.79
	GA	54.87	54.87	54.87	54.87	54.87	54.87	54.87	54.87	54.87	54.87	54.87
	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	12.67	11.98	12.27	11.83	12.02	11.78	12.19	12.36	11.84	11.72	12.07
	GA	12.84	13.48	13.61	13.88	13.92	12.95	12.88	14.07	13.12	13.54	13.43
	S-IACOA	9.52	9.54	9.94	9.22	9.45	9.56	9.60	9.42	9.37	9.48	9.51