| Approach | Approaches Parameters and Results | ||||||||
| Node | Threshold (m) | Population | Iteration | α | β | ρ | Basic path (m) | Enhanced path (m) | |
| PRM based on ACO | 329 | 3 | 250 | 500 | 0.6 | 0.9 | 0.01 | 30.92 | 29.7264 |
| PRM based on modified ACO | 329 | 3 | 250 | 500 | 0.6 | 0.9 | 0.01 | 29.1711 | 27.9639 |