Table 6.

Path planning results with different population sizes.

Population size	Path length (m)			Computation time (s)
	Best	Average	Worst	Best	Average	Worst
100	2,656	2866.6	3,167	56.88	58.95	59.95
200	2,525	2734.6	2,954	101.09	103.25	112.31
300	2534	2713.0	2903	146.10	150.86	155.32
400	2,529	2642.9	2,876	176.87	181.48	202.03
500	2,453	2629.4	2,742	221.68	243.81	259.94