Investigation of Effects of Path Planning Algorithms on Mobile Robot's Performance

摘要

The increasing integration of mobile robots in various industries highlights how important it is of improving their performance. The widespread use of path planning algorithms is an important factor which significantly affects the performance of mobile robots, and it is the focus of this study named “Investigation of Effects of Path Planning Algorithms on Mobile Robot's Performance.” The goal of this study is to compare and analyse the performance of several path planning algorithms in different environment, as well as evaluate their impact on mobile robot metrics such as initialization time, path length, smoothness, and energy consumption. The study investigated at five different path planning algorithms: Rapidly Exploring Random Trees (RRT), RRT*, Bi-Directional RRT (Bi-RRT), Probabilistic RoadMap (PRM), and Hybrid A*. They were evaluated on five different map environments of varying difficulty, ranging from a blank environment with few obstacles to a highly challenging one with obstacles. The results showed the flexibility of Hybrid A* in path planning in complex environment and also the potential in RRT, RRT*, and Bi-RRT in terms of path smoothness and energy efficiency.