Research on path-planning of particle swarm optimization based on distance penalty

Nowadays, designing the optimal path in the complex urban environment is still a significant problem. This paper studies an application of path planning using Particle Swarm Optimization. The grid method is used to divide the environment to fit the implementation of particle swarm optimization. The objective function evaluates the distance of the path, and the penalty is involved to avoid obstacles along the path. Finally, the particle swarm optimization is used in two path planning problems regarding emergency and common vehicles to design the optimal path.