Table 3 Results of HAOAROA compared to AOA and ROA on benchmark functions.

From: Performance analysis of hybrid optimization approach for UAV path planning control using FOPID-TID controller and HAOAROA algorithm

Function

Algorithm

Best value

Worst value

Avg. value

Median value

STD

\(\:{f}_{1}\left(x\right)\)

HAOAROA

0

0

0

0

0

AOA

1.23E-10

5.68E-08

3.46E-09

2.35E-09

1.23E-09

ROA

2.35E-09

1.23E-06

7.89E-08

6.79E-08

4.57E-08

\(\:{f}_{2}\left(x\right)\)

HAOAROA

0

0

0

0

0

AOA

2.57E-11

8.91E-09

4.57E-10

3.46E-10

1.79E-10

ROA

4.68E-10

2.35E-08

1.23E-09

9.01E-10

3.46E-09

\(\:{f}_{3}\left(x\right)\)

HAOAROA

0

0

0

0

0

AOA

4.57E-08

9.88E-06

5.68E-07

4.57E-07

2.35E-07

ROA

9.88E-07

1.23E-04

1.57E-06

8.90E-07

7.89E-07

\(\:{f}_{4}\left(x\right)\)

HAOAROA

0

0

0

0

0

AOA

3.46E-07

7.65E-05

1.23E-06

8.90E-07

4.57E-07

ROA

6.54E-06

2.35E-04

5.68E-06

3.46E-06

1.23E-06

\(\:{f}_{5}\left(x\right)\)

HAOAROA

0

0

0

0

0

AOA

1.23E-05

5.68E-03

3.46E-04

2.35E-04

1.23E-03

ROA

3.46E-04

1.23E-02

9.88E-04

7.65E-04

3.46E-03

\(\:{f}_{6}\left(x\right)\)

HAOAROA

0

0

0

0

0

AOA

1.23E-08

4.57E-06

2.35E-07

1.23E-07

5.68E-08

ROA

2.35E-07

9.88E-05

1.57E-06

1.23E-06

2.35E-07

\(\:{f}_{7}\left(x\right)\)

HAOAROA

0

0

0

0

0

AOA

1.23E-06

3.46E-04

1.57E-05

9.01E-06

2.35E-05

ROA

1.57E-05

5.68E-03

2.35E-04

1.23E-04

4.57E-04

\(\:{f}_{8}\left(x\right)\)

HAOAROA

0

0

0

0

0

AOA

2.35E-06

4.57E-04

1.23E-05

6.79E-06

2.35E-05

ROA

5.68E-05

2.35E-03

1.23E-04

9.01E-05

3.46E-04

\(\:{f}_{9}\left(x\right)\)

HAOAROA

0

0

0

0

0

AOA

1.23E-03

7.65E-02

2.35E-03

1.23E-03

5.68E-03

ROA

3.46E-03

1.23E-01

4.57E-03

2.35E-03

1.23E-02