Evaluation on path planning with a view towards application

摘要

Path planning plays an important role in autonomous mobile robot. A lot of methods have been proposed in several decades. However, the complex environment in the real world becomes more challenging for robots. This paper conducts an experiment on evaluating path planning methods under different scenes. Four basic space configurations corresponding to specific indoor scenes are proposed. At the same time, the measurements of paths in these scenes are designed according to their different requirements for generating path. Following the common study in this field, we select six representative methods from four path planning families. The experimental results show the strength and the weakness of each method. More robust path planning methods for complex environments are expected from the view of application.