An Improved Method of Particle Swarm Optimization for Path Planning of Mobile Robot

Table 3

Comparison of path length of five algorithms in simple environment.

Algorithm	Longest path	Shortest path	Average path	Average time (s)
PSO	28.52	15.23	15.67	9.91
RandWPSO	22.89	13.51	13.90	14.10
TFPSO	27.06	13.29	14.36	15.16
NCFPSO	23.55	15.13	15.41	9.81
IPSO	22.14	12.91	13.18	8.71