Table 5 Ablation analysis for the improved modules of SAEPSO based on optimal fitness values (\(n = 10\)).

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

Environment

Module

Mean

Environment

Module

Mean

Scenario 1

SPSO21

24909

Scenario 4

SPSO21

25088

SPSO+TM

24507

SPSO+TM

24324

SPSO+TM+OP

24185

SPSO+TM+OP

23025

SPSO+TM+OP+AIW

23879

SPSO+TM+OP+AIW

22157

SPSO+TM+OP+AIW+ALF

23971

SPSO+TM+OP+AIW+ALF

21930

SPSO+TM+OP+AIW+ALF+AF

23747

SPSO+TM+OP+AIW+ALF+AF

21434

SAEPSO

22646

SAEPSO

20269

Scenario 2

SPSO21

27416

Scenario 5

SPSO21

26515

SPSO+TM

27042

SPSO+TM

25876

SPSO+TM+OP

26947

SPSO+TM+OP

25005

SPSO+TM+OP+AIW

24712

SPSO+TM+OP+AIW

24123

SPSO+TM+OP+AIW+ALF

23783

SPSO+TM+OP+AIW+ALF

23085

SPSO+TM+OP+AIW+ALF+AF

23377

SPSO+TM+OP+AIW+ALF+AF

22853

SAEPSO

22634

SAEPSO

21853

Scenario 3

SPSO21

37181

Scenario 6

SPSO21

26671

SPSO+TM

35527

SPSO+TM

24074

SPSO+TM+OP

32197

SPSO+TM+OP

23231

SPSO+TM+OP+AIW

31266

SPSO+TM+OP+AIW

23043

SPSO+TM+OP+AIW+ALF

31099

SPSO+TM+OP+AIW+ALF

21279

SPSO+TM+OP+AIW+ALF+AF

30912

SPSO+TM+OP+AIW+ALF+AF

20517

SAEPSO

30514

SAEPSO

18513

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