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

Table 6

Study of simulation and experimental data in the various maze environment.

Sl. No.	Scenario	NT (in second “±0.5”)	“%” deviation	TL (“m” “±0.02”)	“%” deviation
1.	Simulation-1	22.13	5.43	1.78	5.32
	Experiment-1	23.40		1.88
2.	Simulation-2	28.18	5.87	1.82	5.70
	Experiment-2	29.94		1.93
3.	Simulation-3	21.09	5.76	1.59	4.40
	Experiment-3	22.38		1.66
4.	Simulation-4	26.38	4.70	1.71	4.09
	Experiment-4	27.62		1.78
5.	Simulation-5	24.56	6.14	1.67	5.38
	Experiment-5	26.07		1.76
6.	Simulation-6	20.28	6.75	1.53	5.22
	Experiment-6	21.65		1.61
7.	Simulation-7	20.71	5.98	1.57	5.09
	Experiment-7	21.95		1.65
8.	Simulation-8	21.13	5.20	1.62	4.94
	Experiment-8	22.23		1.70
9.	Simulation-9	27.53	4.54	1.79	5.58
	Experiment-9	28.78		1.89
10.	Simulation-10	28.43	4.92	1.81	6.07
	Experiment-10	29.83		1.90
Average deviation in results			5.53		5.28