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

Table 3

Comparison in performance among the proposed hybrid approach, PSO, and GA for test environment I.

	Hybrid	PSO	GA
Initial tree size (number of nodes)	≤15	15	15
Number of valid paths	2996	2931	2996
Mean length of valid paths	314.3656	311.4129	315.1283
Standard deviation of valid paths	21.8718	19.0713	21.4997
Shortest valid path	295.3884	294.8781	295.6429
Average solution tree size (average number of nodes)	3.2774	15	15