Path Planning Algorithms in Robotics

This paper presents a comparative analysis of stateof-the-art path planning algorithms used in autonomous mobile robots within a ROS2 framework. The study evaluates the efficiency of a combination of global and local path planners, specifically A-star, Dijkstra, Dynamic-Window Approach (DWA), and Rapidly-exploring Random Tree (RRT) algorithms. The performance metrics used in this analysis include path length, deviation from the planned trajectory, and execution time. The experimental setup involves a maze-like environment with static and dynamic obstacles. The results highlight the strengths and weaknesses of each algorithm combination, providing insights into their suitability for different navigation scenarios in autonomous mobile robotics.