Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Comparison of Path Planning Techniques for Autonomous Mobile Robots
Submission Author:
Arnaldo Roberto Rady Peron , RJ
Co-Authors:
Arnaldo Roberto Rady Peron, Marco Antonio Meggiolaro
Presenter: Arnaldo Roberto Rady Peron
doi://10.26678/ABCM.COBEM2021.COB2021-0075
Abstract
This paper presents a comparison study of five state-of-the-art algorithms used on autonomous mobile robots path planning - Dijkstra’s Algorithm (DA), Dynamic Programming (DP), Probabilistic Roadmaps (PRM), Rapidly-exploring Random Trees (RRT) and Hybrid A* - regarding processing time, number of steps and path length. The study was carried out through simulations on MATLAB using functions that were already available, on three different maps, each one aiming on a distinct aspect of the path planners: a labyrinth, simulating a disorganized environment; a labyrinth with narrow passages, increasing the difficulty and a zig-zag circuit with 180° curves. The results computed during simulations are presented on table and charts with the values of each parameter evaluated for all the three maps.
Keywords
path planning, Mobile robotics, Autonomous Robots, Simulation
