An Improved Simulated Annealing Particle Swarm Optimization Algorithm for Path Planning of Mobile Robots Using Mutation Particles

Table 1

Parameter setting.

Parameter	Description	Traditional PSO	MP-SAPSO
	Maximum number of iteration	100	100
	Population size	150	150
	Inertia weight	1	1
	Inertia weight damping ratio	0.8	0.8
	Personal learning coefficient	1.5	\
	Global learning coefficient	1.5	\
	Constant	\	4.1
	Convergence factor	\	0.729