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

Table 3

Convergence path length and number of convergence iterations in environment 1 and environment 2.

	Convergence path length in environment 1 (m)	Number of convergence iterations in environment 1	Convergence path length in environment 2 (m)	Number of convergence iterations in environment 2
PSO	14.8496	169	21.7977	171
IPSO1 [11]	14.7031	138	21.5781	159
IPSO2 [12]	14.6513	140	21.5085	166
IPSO	14.5134	94	21.2950	137

The values in bold represent the best of the four sets of values.