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

Figure 13

Results of DWA avoidance of dynamic obstacles. (a) Robot detects dynamic obstacle 1. (b) Robot avoidance of dynamic obstacle 1 failed. (c) Robot detects dynamic obstacle 2. (d) Robot avoidance of dynamic obstacle 2 failed.

(a)

(b)

(c)

(d)