Comparative study of trajectories resulted from cell decomposition path planning approaches

This paper is devoted to a quantitative study of the sensitivity of cell decomposition path planning to various key criteria dealing with optimality and computational complexity. More specifically, the work analyzes the influence of various types of cell decomposition approaches (e.g. trapezoidal, rectangular) and cost functions used during the trajectory search phase (e.g. L
₁
, L
₂
norms) in the performance of the whole path planning algorithm. This paper also addresses the generation of random environments where obstacles are randomly placed according to a dispersion factor. The included comparison among cell decomposition key criteria is based on numerous simulation experiments that also accounts for the number of obstacles in the environment.