Table 9.

Performance comparisons of different algorithms in high dimensional situations.

Type of Obstacles	Algorithms	$\mathit{t}\left(\mathbf{s}\right)$	${\mathit{f}}_{\mathbf{ave}}$	$\mathit{\psi }$ (%)
Single regular	OABAS	0.301	36.94	100
	PSO	NA	57.04	52
	ABC	49.729	40.47	96
Multiple regular	OABAS	0.371	41.77	99
	PSO	NA	51.18	38
	ABC	32.382	48.48	100
Single irregular	OABAS	0.406	46.01	99
	PSO	184.593	44.44	39
	ABC	35.434	40.91	100
Multiple irregular	OABAS	0.428	41.71	95
	PSO	251.506	40.88	12
	ABC	56.813	41.36	48
Mixed	OABAS	0.345	39.91	100
	PSO	NA	57.04	92
	ABC	46.956	48.93	100