Path Planning Using a Hybrid Evolutionary Algorithm Based on Tree Structure Encoding

Table 1

Experiment parameters.

Name	Value	Comment
Population size	30
Maximum generation allowed	2000	Termination criterion I
Fitness threshold	10	Termination criterion II: if the change of best fitness is smaller than the predefined threshold by 10 times, terminate the evolutionary process
Crossover probability	1	For GA
Mutation probability	0.001	For GA
Inertia weight	0.5	For PSO
Learning factors	1.3	For PSO