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

Table 5

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

	Hybrid	PSO	GA
Initial tree size (number of nodes)	≤15	15	15
Number of valid paths	2620	1410	952
Mean length of valid paths	370.1507	304.9307	320.2028
Standard deviation of valid paths	84.7093	21.1082	20.7493
Shortest valid path	275.2839	270.8929	279.0292
Average solution tree size (average number of nodes)	7.3294	15	15