Research Article
Cubic Spline Interpolation-Based Robot Path Planning Using a Chaotic Adaptive Particle Swarm Optimization Algorithm
Figure 7
Path planning results of CAPSO under different numbers (n = 1∼9) of control points in environment 1.
(a) |
(b) |
(c) |
(d) |
(e) |
(f) |
(g) |
(h) |
(i) |