Algorithms for Path Planning on Mobile Robots

摘要

This paper reviews the literature on the path planning of mobile robots using Robot Operating System (ROS). Three different types of path planning algorithms are considered here. These are the Generalized Voronoi Diagrams (GVD), a Rapidly Exploring Random Tree (RRT), and the Gradient Descent Algorithm (GDA). The importance of each algorithm with its advantages and disadvantages is discussed here. It is highlighted that GDA is a better candidate for single query problems as its generation time is shorter than RRT and its path length is optimal as the use of Voronoi Diagrams is the preferred choice for multi-query planning. A total of 33 papers were surveyed in this research area, covering contributions on each algorithm for mobile robot path planning in the 24-year timeframe of 1998-2021.