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

Figure 15

Fusion algorithm in the dynamic environment. (a) The global paths in the environment obtained using IPSO. (b) The fusion algorithm for the avoidance of dynamic obstacle 1. (c) The fusion algorithm for the avoidance of dynamic obstacle 2. (d) The fusion algorithm completes path planning in the dynamic environment.

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