A quantitative comparison of path planning methods in mobile robotics

Path planning and motion control are primary goals in mobile robotics since they are the basis of autonomous navigation. This work presents a quantitative methodology to compare different algorithms that solve the path-planning problem, taking into account their basic concepts and results obtained in three simulation scenarios. The resulting trajectories are smoothed by Spline and B-Spline interpolation methods in order to propose a solution to the non-holonomic constraints of a differential-traction robot with a tracking controller. The comparison is based on simulations to calculate indexes and evaluate different performance criteria.