Li Lu et al. (2008) (Lu & Gong, 2008), proposed method for path planning in the unknown environment using the particle swarm optimization, this approach transformed to minimization concept. The advanced fitness function is based on the target and also obstacles in the search space or environment. The environment is unknown because of the limited sensor range of the robot. The global best solution calculated by executing PSO iteratively. The robot updates the environment on its each move. The final path is generated using the fitness function, and also simulation is done in the dynamic environment so that final path generated do not collide with obstacles.