“…Particle swarm optimization algorithm with dynamic nonlinear inertial weights was used for robot path planning (static obstacles) [21]. Simulation parameters are starting point [5,5], target point [25,25], polar radius � 5, obstacle point [20,20], [8,10], [10,10], [12,10], [24,20], [18,20]; learning factor c 1 � c 2 � 1.4962; inertia weight w max � 0.9; w min �0.4; dimension of search space m 10; population number N 30, iteration number T, maximum iteration number DT max 2000;…”