Table 5 Moving obstacles.

From: Bio particle swarm optimization and reinforcement learning algorithm for path planning of automated guided vehicles in dynamic industrial environments

Obstacle

Start

Velocity x

Velocity y

Collided time

Path

1

(106,480)

3

0

\(t=35\)

BPSO Path 1

2

(124,515)

3

-1

\(t=16\)

BPSO Path 2

3

(127,402)

2

2

\(t=12\)

BPSO Path 3

4

(210,260)

0

5

\(t=28\)

BPSO Path 3

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