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