Table 5.
Moving obstacles.
| Obstacle | Start | Velocity x | Velocity y | Collided time | Path |
|---|---|---|---|---|---|
| 1 | (106,480) | 3 | 0 |  |
BPSO Path 1 |
| 2 | (124,515) | 3 | -1 |  |
BPSO Path 2 |
| 3 | (127,402) | 2 | 2 |  |
BPSO Path 3 |
| 4 | (210,260) | 0 | 5 |  |
BPSO Path 3 |
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