Research Article
Trajectory Planning and Collision Control of a Mobile Robot: A Penalty-Based PSO Approach
Table 4
Results comparison between simulation and experiment data using APSO (Figures
4–
7).
| Sl. no. | Scenario | NT (in second “±0.5”) | “%” deviation | TL (“m” “±0.02”) | “%” deviation |
| 1. | Figure 4 | 21.36 | 7.13 | 1.627 | 7.55 | Figure 5 | 23 | 1.76 |
| 2. | Figure 6 | 27.48 | 8.4 | 1.763 | 8.17 | Figure 7 | 30 | 1.92 |
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