Table 4 Algorithm comparison results.
From: An improve crested porcupine algorithm for UAV delivery path planning in challenging environments
| Â | WOA | BKA | PO | COA | CPO | ICPO | ||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
Mean | Std | Mean | Std | Mean | Std | Mean | Std | Mean | Std | Mean | Std | |
F1 | 4.37E+04 | 1.62E+04 | 7.14E+03 | 3.48E+03 | 1.66E+04 | 5.07E+03 | 4.45E+04 | 1.26E+04 | 2.39E+04 | 4.31E+03 | 1.39E+03 | 7.99E+02 |
F2 | 6.88E+02 | 9.12E+01 | 6.27E+02 | 1.42E+02 | 6.86E+02 | 1.05E+02 | 2.39E+03 | 5.86E+02 | 4.89E+02 | 1.38E+01 | 4.59E+02 | 1.12E+01 |
F3 | 6.66E+02 | 1.17E+01 | 6.52E+02 | 9.57E+00 | 6.54E+02 | 1.01E+01 | 6.77E+02 | 8.83E+00 | 6.08E+02 | 1.57E+00 | 6.02E+02 | 1.45E+00 |
F4 | 9.47E+02 | 3.01E+01 | 8.84E+02 | 1.99E+01 | 9.14E+02 | 2.33E+01 | 9.69E+02 | 1.68E+01 | 9.26E+02 | 9.42E+00 | 8.55E+02 | 1.80E+01 |
F5 | 4.54E+03 | 1.48E+03 | 2.04E+03 | 3.56E+02 | 2.68E+03 | 4.11E+02 | 3.39E+03 | 4.18E+02 | 1.02E+03 | 5.85E+01 | 1.07E+03 | 1.44E+02 |
F6 | 1.15E+07 | 1.27E+07 | 1.30E+06 | 4.98E+06 | 1.03E+07 | 1.98E+07 | 1.82E+09 | 8.74E+08 | 1.15E+06 | 6.30E+05 | 6.76E+03 | 4.28E+03 |
F7 | 2.23E+03 | 7.43E+01 | 2.12E+03 | 4.04E+01 | 2.17E+03 | 3.79E+01 | 2.21E+03 | 4.04E+01 | 2.10E+03 | 1.54E+01 | 2.05E+03 | 1.42E+01 |
F8 | 2.31E+03 | 8.05E+01 | 2.29E+03 | 7.05E+01 | 2.29E+03 | 5.89E+01 | 2.39E+03 | 1.15E+02 | 2.24E+03 | 4.33E+00 | 2.23E+03 | 3.36E+00 |
F9 | 2.63E+03 | 5.01E+01 | 2.55E+03 | 5.13E+01 | 2.59E+03 | 4.50E+01 | 3.26E+03 | 3.00E+02 | 2.49E+03 | 2.30E+00 | 2.48E+03 | 1.21E+00 |
F10 | 4.84E+03 | 1.41E+03 | 4.27E+03 | 1.15E+03 | 3.02E+03 | 1.01E+03 | 5.89E+03 | 1.50E+03 | 2.58E+03 | 3.24E+02 | 2.57E+03 | 2.52E+02 |
F11 | 4.50E+03 | 6.04E+02 | 4.63E+03 | 1.07E+03 | 5.59E+03 | 7.36E+02 | 8.44E+03 | 8.91E+02 | 3.22E+03 | 7.32E+01 | 2.95E+03 | 1.56E+02 |
F12 | 3.10E+03 | 1.22E+02 | 3.05E+03 | 7.64E+01 | 3.03E+03 | 6.04E+01 | 3.52E+03 | 2.09E+02 | 3.05E+03 | 1.67E+01 | 2.99E+03 | 3.19E+01 |
