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

Table 6

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

	Hybrid	PSO	GA
Initial tree size (number of nodes)	≤15	15	15
Number of valid paths	3000	2982	2966
Mean length of valid paths	317.2784	317.6262	323.0512
Standard deviation of valid paths	22.9993	23.6171	24.3007
Shortest valid path	284.6030	285.6138	286.2925
Average solution tree size (average number of nodes)	4.52167	15	15