Balancing safety and speed in the military path finding problem: analysis of different ACO algorithms

hCHAC, a MOACO implemented to solve the problem of finding the path that minimizes resources, while maximizing safety for a military unit in realistic battlefields, is compared with some other approaches: two extreme methods, which only considers one objective in the search, and a mono-objective algorithm, which combines the two objectives terms of the formulae in a single. In addition, two state transition rules (combined and dominance-based) have been used in some of the approaches.All of them have been tested in different difficulty maps and hCHAC using the combined state transition rule has been considered the best approach.