Path length comparison in grid maps of planning algorithms: HCTNav, A* and Dijkstra

An important aspect in path planning for mobile robots is to find the shortest path length from one point to another. In this paper, we implement HCTNav algorithm, A∗ and Dijkstra's algorithms on grid based maps and then compare their obtained path lengths. HCTNav algorithm is a path planning algorithm especially designed for low resources robots navigating in grid maps. Also Dijkstra's and A∗ algorithms are well known algorithms in path finding based on graphs, but can be adapted to grid maps. Experimental results demonstrate that HCTNav has a good potential for solving path planning in embedded systems.