Table 6.

Computation time for path planning (seconds) with different number of regions

Number of regions	Computation time for path planning (in s)
	Proposed HGJMFOA	GTMPSO	MPIPA	AFSAPPM	ACOACPPM
200	3.56	3.78	3.86	3.97	4.04
400	3.64	3.89	3.95	4.04	4.11
600	3.78	3.97	4.12	4.12	4.21
800	3.89	4.04	4.24	4.18	4.38
1000	4.12	4.21	4,68	4.24	4.46
1200	4.26	4.39	4.76	4.29	4.56
1400	4.45	4.54	4.84	4.32	4.64
1600	4.58	4.69	4.99	4.39	4.72
1800	4.76	4.86	5.08	4.46	4.78
2000	4.84	4.98	5.14	4.54	5.12