Table 4 Scalability analysis of SAEPSO and lerature algorithms (\(\alpha = 0.05\); \(n = 5,15\)).

From: A spherical vector-based adaptive evolutionary particle swarm optimization for UAV path planning under threat conditions

Environment

Statistics

PSO

SGWO

SWOA

SHHO

SDBO

SPSO

SAEPSO

Scenario 1

(n=5)

Mean

23949

21767

24731

24470

25209

22689

21649

Std

2824.9

624.7

1292.0

1035.4

321.2

1787.0

82.7

T-test

O

O

Scenario 1

(n=15)

Mean

74375

34661

42587

26990

28437

48245

26695

Std

8397.2

5126.8

12294.8

509.7

4385.0

6847.0

2373.9

T-test

O

O

Scenario 2

(n=5)

Mean

32661

23302

29973

32817

29932

24934

22062

Std

14141.2

1507.3

8475.5

9892.2

4597.8

3715.6

359.7

T-test

Scenario 2

(n=15)

Mean

43278

47572

31901

30488

45368

27089

Std

11057.2

13475.2

2841.7

2617.6

6738.0

2379.9

T-test

Scenario 3

(n=5)

Mean

38462

32094

34746

39000

36761

30730

27442

Std

5768.7

4294.0

3528.5

4687.6

6802.0

3967.2

288.5

T-test

Scenario 3

(n=15)

Mean

46601

78334

59017

63996

50503

42847

Std

4226.5

11573.7

2709.0

6443.9

6330.2

2797.3

T-test

O

Scenario 4

(n=5)

Mean

29321

16889

17089

20850

18351

18126

14823

Std

15650.6

7069.5

2606.0

4023.4

1348.7

6561.1

2440.1

T-test

O

O

Scenario 4

(n=15)

Mean

30433

28178

23007

27265

47620

19290

Std

4318.6

6260.6

96.9

5736.6

12941.5

4010.8

T-test

Scenario 5

(n=5)

Mean

25577

20708

21461

21252

24172

21428

19431

Std

3495.8

1856.1

2935.8

2442.8

2498.3

2547.0

1532.5

T-test

O

Scenario 5

(n=15)

Mean

35196

45489

36526

43713

38366

30280

Std

6187.9

10788.5

3771.5

5359.0

9047.1

5332.3

T-test

O

Scenario 6

(n=5)

Mean

21759

17590

18688

21294

21670

18858

16730

Std

5875.1

2763.2

3078.8

2712.2

2987.1

2756.3

222.4

T-test

O

O

Scenario 6

(n=15)

Mean

30983

42347

34712

45608

31514

24914

Std

3938.7

9730.4

3925.4

4098.2

5346.9

3666.6

T-test

  1. Bold indicates the best result among all the algorithms or methods compared in the comparative experiments.