Path Planning for Mobile Objects in Four-Dimension Based on Particle Swarm Optimization Method with Penalty Function

Table 1

Information of obstacles Obs_𝑘.

Obs𝑘	(𝛼1𝑘(𝑡),𝛼2𝑘(𝑡),𝛼3𝑘(𝑡))	𝑟𝑘	𝑑𝑘
Obs1	(0.5, 0.5, 0.5)	1/6	0.1
Obs2	(0.3, 0.3, 0.1)	1/5	0.15
Obs3	(0.8, 0.2, 0.6)	1/5	0.11
Obs4	(0.2, 0.2, 0.8)	1/5	0.12
Obs5	(0.2, 0.8, 0.4)	1/5	0.2