Table 8.

Performance comparisons of different algorithms in low dimensional situations.

Type of Obstacles	Algorithms	$\mathit{t}\left(\mathbf{s}\right)$	${\mathit{f}}_{\mathbf{ave}}$	$\mathit{\psi }$ (%)
Single regular	OABAS	0.059	17.63	100
	PSO	0.606	19.54	100
	ABC	0.356	17.29	100
Multiple regular	OABAS	0.083	17.37	97
	PSO	2.254	19.30	97
	ABC	0.279	17.32	100
Single irregular	OABAS	0.102	21.16	100
	PSO	7.670	22.68	87
	ABC	0.450	19.29	100
Multiple irregular	OABAS	0.065	19.69	100
	PSO	17.285	19.52	63
	ABC	0.571	19.90	100
Mixed	OABAS	0.088	19.56	100
	PSO	0.536	21.54	98
	ABC	0.325	21.64	100