# Enhanced Teaching-Learning-Based Optimization Algorithm for the Mobile Robot Path Planning Problem
## 5 Experimental Studies
### Nonparametric test results
\begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline
**Function** & **Statistic** & **ETLBO** & **TLBO** & **TLBO(S)** & **PSO** & **DE** & **GA** \\ \hline \multirow{6}{*}{F15} & Best & \(\mathbf{8.83\times 10^{-16}}\) & \(2.04\times 10^{01}\) & \(3.49\times 10^{-05}\) & \(1.51\times 10^{-12}\) & \(3.68\times 10^{-03}\) & \(4.11\times 10^{00}\) \\  & Worst & \(\mathbf{8.83\times 10^{-16}}\) & \(2.00\times 10^{01}\) & \(3.63\times 10^{00}\) & \(3.19\times 10^{00}\) & \(1.01\times 10^{-02}\) & \(9.22\times 10^{00}\) \\  & Median & \(\mathbf{8.83\times 10^{-16}}\) & \(2.04\times 10^{01}\) & \(4.30\times 10^{-03}\) & \(1.15\times 10^{00}\) & \(6.10\times 10^{-03}\) & \(7.36\times 10^{00}\) \\  & Average & \(\mathbf{8.83\times 10^{-16}}\) & \(2.00\times 10^{01}\) & \(1.51\times 10^{00}\) & \(1.00\times 10^{00}\) & \(6.34\times 10^{-03}\) & \(7.13\times 10^{00}\) \\  & SD & \(\mathbf{0.00\times 10^{00}}\) & \(2.14\times 10^{-01}\) & \(1.72\times 10^{00}\) & \(8.29\times 10^{-01}\) & \(1.19\times 10^{-02}\) & \(1.14\times 10^{00}\) \\ \hline \multirow{6}{*}{F16} & Best & \(\mathbf{0.00\times 10^{00}}\) & \(1.00\times 10^{00}\) & \(3.92\times 10^{-11}\) & \(3.22\times 10^{-02}\) & \(3.50\times 10^{00}\) & \(3.08\times 10^{00}\) \\  & Worst & \(\mathbf{0.00\times 10^{00}}\) & \(1.03\times 10^{00}\) & \(2.64\times 10^{-07}\) & \(2.23\times 10^{00}\) & \(5.89\times 10^{00}\) & \(2.06\times 10^{01}\) \\  & Median & \(\mathbf{0.00\times 10^{00}}\) & \(1.02\times 10^{00}\) & \(6.76\times 10^{-09}\) & \(6.09\times 10^{-01}\) & \(4.33\times 10^{00}\) & \(9.51\times 10^{00}\) \\  & Average & \(\mathbf{0.00\times 10^{00}}\) & \(1.02\times 10^{00}\) & \(2.22\times 10^{-08}\) & \(6.25\times 10^{-01}\) & \(4.37\times 10^{00}\) & \(1.05\times 10^{01}\) \\  & SD & \(\mathbf{0.00\times 10^{00}}\) & \(6.00\times 10^{-03}\) & \(4.38\times 10^{-08}\) & \(4.26\times 10^{-01}\) & \(5.12\times 10^{-01}\) & \(3.96\times 10^{00}\) \\ \hline \multirow{6}{*}{F17} & Best & \(9.31\times 10^{-01}\) & \(2.00\times 10^{-01}\) & \(\mathbf{1.43\times 10^{-09}}\) & \(2.31\times 10^{-01}\) & \(1.09\times 10^{00}\) & \(5.49\times 10^{00}\) \\  & Worst & \(1.34\times 10^{00}\) & \(7.92\times 10^{-01}\) & \(\mathbf{1.77\times 10^{-05}}\) & \(1.20\times 10^{01}\) & \(2.91\times 10^{00}\) & \(6.70\times 10^{02}\) \\  & Median & \(1.06\times 10^{00}\) & \(5.14\times 10^{-01}\) & \(\mathbf{8.22\times 10^{-07}}\) & \(3.15\times 10^{00}\) & \(1.68\times 10^{00}\) & \(1.25\times 10^{01}\) \\  & Average & \(1.11\times 10^{00}\) & \(5.23\times 10^{-01}\) & \(\mathbf{2.16\times 10^{-06}}\) & \(3.61\times 10^{00}\) & \(1.73\times 10^{00}\) & \(3.54\times 10^{01}\) \\  & SD & \(1.00\times 10^{-01}\) & \(1.35\times 10^{-01}\) & \(\mathbf{3.23\times 10^{-06}}\) & \(2.30\times 10^{00}\) & \(4.33\times 10^{-01}\) & \(1.08\times 10^{02}\) \\ \hline \multirow{6}{*}{F18} & Best & \(2.59\times 10^{00}\) & \(4.46\times 10^{01}\) & \(\mathbf{7.64\times 10^{-11}}\) & \(3.44\times 10^{01}\) & \(4.22\times 10^{01}\) & \(1.91\times 10^{01}\) \\  & Worst & \(2.98\times 10^{00}\) & \(1.16\times 10^{01}\) & \(\mathbf{1.62\times 10^{-05}}\) & \(1.17\times 10^{02}\) & \(1.03\times 10^{02}\) & \(1.24\times 10^{04}\) \\  & Median & \(2.98\times 10^{00}\) & \(2.03\times 10^{01}\) & \(\mathbf{1.51\times 10^{-07}}\) & \(5.93\times 10^{01}\) & \(5.71\times 10^{01}\) & \(5.52\times 10^{01}\) \\  & Average & \(2.75\times 10^{00}\) & \(1.23\times 10^{01}\) & \(\mathbf{1.53\times 10^{-06}}\) & \(6.09\times 10^{01}\) & \(5.77\times 10^{01}\) & \(9.39\times 10^{02}\) \\  & SD & \(4.42\times 10^{-02}\) & \(3.89\times 10^{00}\) & \(\mathbf{3.48\times 10^{-06}}\) & \(1.86\times 10^{01}\) & \(1.12\times 10^{01}\) & \(2.61\times 10^{03}\) \\ \hline \multirow{6}{*}{F19} & Best & \(\mathbf{3.00\times 10^{00}}\) & \(\mathbf{3.00\times 10^{00}}\) & \(3.28\times 10^{01}\) & \(\mathbf{3.00\times 10^{00}}\) & \(\mathbf{3.00\times 10^{00}}\) & \(\mathbf{3.00\times 10^{000}}\) & \(\mathbf{3.00\times 10^{000}}\) \\  & Worst & \(\mathbf{3.00\times 10^{00}}\) & \(1.66\times 10^{01}\) & \(3.27\times 10^{01}\) & \(\mathbf{3.00\times 10^{00}}\) & \(\mathbf{3.00\times 10^{00}}\) & \(\mathbf{3.00\times 10^{00}}\) & \(\mathbf{3.00\times 10^{000}}\) \\  & Median & \(\mathbf{3.00\times 10^{00}}\) & \(\mathbf{3.00\times 10^{00}}\) & \(3.