Consider Figure $1$ where the robot needs to go from start location to goal.However, the environment has the obstacle in the middle. The robot has to devise a route from start to goal. $($a$)$ Formulate the shortest path path problem

$($b$)$ Use PSO to solve the problem and give details of the PSOimplementation

$(\mathrm{}\mathrm{c)}$ Display the route

 

Ostatrt Obstacle goal Figure 1: Robot motion planning problem