Mobile Robot Path Planning Based on Improved Particle Swarm Optimization and Improved Dynamic Window Approach

Figure 11

The shortest path of four algorithms in environment 2. (a) PSO in environment 2. (b) IPSO1 in environment 2. (c) IPSO2 in environment 2. (d) IPSO in environment 2.

(a)

(b)

(c)

(d)