Module particle_swarm_optimization 

Particle Swarm Optimization (PSO) path planner

Treats path planning as an optimization problem where particles explore the search space to minimize distance to target while avoiding circular obstacles. Each particle maintains a position, velocity, and personal best; the swarm collectively converges towards the global best solution.

Reference: Kennedy & Eberhart (1995), “Particle Swarm Optimization”.

Structs

Bounds2D

Axis-aligned rectangular bounds [min, max] for each of two dimensions.

CircleObstacle

A circular obstacle defined by centre and radius.

PsoConfig

Configuration for the PSO planner.

PsoPlanner

The PSO path planner.

PsoResult

Result returned by the PSO planner.