Comparative analysis of motion planning techniques for autonomous mobile robots

摘要

This paper presents a comparative analysis of different Motion Planning (MP) techniques currently popular for Autonomous Mobile Robot (AMR) applications. The discussion separates the techniques into two major categories: Classic and Heuristic. The techniques are assessed on the basis of their efficiency and effectiveness under varying constraints such as static, dynamically changing environments and environments with different complexities etc. At the end, results of the performances of the methods in a standard environment have been shown, the execution time and path lengths for each method have also been presented in the form of a table.