Table 6 CEC 2021 test function results.

From: Multi-strategy hybrid adaptive dung beetle optimization for UAV photogrammetric 3D path planning under complex constraints

Function

Metric

MSDBO

DBO

AOA

PSO

GWO

WOA

HHO

CEC-1

Best

0

5.63E-157

0

2.76E + 07

1.20E-32

3.00E-87

1.71E-80

Std

0

9.70E-112

5.77E-103

1.31E + 08

2.80E-29

1.61E-82

3.59E-68

Average

0

2.13E-112

1.05E-103

1.66E + 08

1.22E-29

3.08E-83

8.50E-69

p-value

NAN

1.21E-12

1.21E-12

1.21E-12

1.21E-12

1.21E-12

1.21E-12

Signed-rank test

 

 + 

 + 

 + 

 + 

 + 

 + 

CEC-2

Best

0

0

0

4.76E + 02

3.64E-12

0

0

Std

0

5.86E + 02

0

6.20E + 02

9.39E + 01

0

6.79E + 02

Average

0

2.08E + 02

0

1.71E + 03

3.60E + 01

0

1.76E + 02

p-value

NAN

1.10E-02

NAN

1.21E-12

1.20E-12

6.56E-04

NAN

Signed-rank test

 

 + 

 = 

 + 

 + 

 + 

 = 

CEC-3

Best

0

0

0

5.22E + 01

5.72E-30

0

0

Std

0

3.04E + 00

0

4.42E + 01

6.80E + 01

0

6.02E-32

Average

0

8.84E-01

0

1.12E + 02

7.26E + 01

0

1.97E-32

p-value

NAN

1.61E-01

NAN

1.21E-12

1.21E-12

3.34E-01

NAN

Signed-rank test

 

-

 = 

 + 

 + 

-

 = 

CEC-4

Best

0

0

0

6.13E + 00

0

0

0

Std

0

2.18E + 00

0

1.81E + 01

8.23E-01

0

5.93E-01

Average

0

1.15E + 00

0

2.16E + 01

7.14E-01

0

1.08E-01

p-value

NAN

3.13E-04

NAN

1.21E-12

1.93E-10

1.61E-01

NAN

Signed-rank test

 

 + 

 = 

 + 

 + 

-

 = 

CEC-5

Best

0

1.28E-152

0

2.17E + 03

6.99E-19

9.83E-21

2.40E-82

Std

0

3.64E-01

0

1.67E + 04

3.43E + 00

3.25E-19

2.92E-16

Average

0

6.64E-02

3.89E-217

1.45E + 04

2.76E + 00

3.18E-19

9.35E-17

p-value

NAN

1.21E-12

5.58E-03

1.21E-12

1.21E-12

1.21E-12

1.21E-12

Signed-rank test

 

 + 

 + 

 + 

 + 

 + 

 + 

CEC-6

Best

−2.22E-16

4.86E-09

−1.11E-16

1.13E + 01

6.13E-02

7.88E-04

1.44E-05

Std

9.10E-17

2.41E + 02

3.38E-17

1.57E + 02

5.53E + 00

3.11E-01

2.07E + 02

Average

−1.67E-16

1.14E + 02

−1.11E-17

2.11E + 02

5.43E + 00

6.46E-02

3.85E + 01

p-value

NAN

4.95E-11

1.84E-09

2.80E-11

2.80E-11

2.80E-11

6.53E-11

Signed-rank test

 

 + 

 + 

 + 

 + 

 + 

 + 

CEC-7

Best

−2.22E-16

−2.89E-17

0

7.02E + 02

4.45E-02

3.63E-04

2.14E-04

Std

1.09E-16

2.48E + 00

8.31E-119

8.78E + 03

5.94E + 00

7.01E-04

1.12E-01

Average

−1.11E-16

6.54E-01

1.52E-119

4.39E + 03

2.31E + 00

1.41E-03

9.96E-02

p-value

NAN

2.11E-11

2.32E-05

2.11E-11

2.11E-11

2.11E-11

1.05E-10

Signed-rank test

 

 + 

 + 

 + 

 + 

 + 

 + 

CEC-8

Best

0

0

0

1.25E + 02

0

0

0

Std

0

0

0

2.54E + 02

4.09E-16

0

6.00E + 02

Average

0

0

0

5.43E + 02

8.64E-17

0

1.10E + 02

p-value

NAN

3.34E-01

NAN

1.21E-12

3.34E-01

3.34E-01

NAN

Signed-rank test

 

-

 = 

 + 

-

-

 = 

CEC-9

Best

1.41E-315

5.74E-163

1.08E-312

3.24E + 01

2.66E-14

8.88E-15

1.57E-89

Std

0

2.19E-67

3.95E-110

1.67E + 01

1.28E-14

1.62E-15

5.18E-15

Average

1.67E-314

3.99E-68

7.21E-111

7.63E + 01

5.03E-14

9.18E-15

8.29E-15

p-value

NAN

3.02E-11

3.02E-11

3.02E-11

2.67E-11

1.72E-11

3.02E-11

Signed-rank test

 

 + 

 + 

 + 

 + 

 + 

 + 

CEC-10

Best

1.11E-315

7.11E-15

2.54E-282

1.17E + 02

1.22E-02

1.73E-03

6.59E-04

Std

0

3.92E + 01

7.44E-05

2.66E + 01

2.05E + 01

2.21E + 01

4.38E-02

Average

1.11E-315

2.25E + 01

2.09E-05

1.71E + 02

7.66E + 01

7.15E + 00

8.88E-02

p-value

NAN

3.02E-11

3.02E-11

3.02E-11

3.02E-11

3.02E-11

3.02E-11

Signed-rank test

 

 + 

 + 

 + 

 + 

 + 

 + 

 + /−/ = /gm

56/6/8/50