Trajectory Planning and Collision Control of a Mobile Robot: A Penalty-Based PSO Approach

Table 1

Parameters used in the APSO algorithm architecture.

Sl. no.	Properties	Values
1	Population size (i)	100
2	“+” acceleration coefficient (C1)	1.496
3	“+” acceleration coefficient (C2)	1.496
4	Alpha	0.1000
5	Iteration	100
6	Max iteration	100
7		100
8		3
9	Inertia weight ()	0.7298
10	Penalty	1000