SIMULATION PERFORMANCE COMPARISON OF DIJKSTRA'S ALGORITHM, A *ALGORITHM, AND DYNAMIC WINDOW APPROACH FOR MOBILE ROBOT PATH PLANNING

Abstract

Path planning is one of the significant aspects of mobile robots. Selection of an optimal or sub-optimal collision-free route from initial point to the final point by the mobile robot is known as path planning. In this thesis we have compared the performance of Dijkstra’s Algorithm, A* Algorithm and Dynamic Window Approach. The result was analyzed according to the feasibility and time taken. Results obtained by Dynamic Window Approach found to be feasible in almost all maps whereas the paths obtained by Dijkstra’s algorithm and A* algorithm were not feasible for some of the cases. Time taken for Dijkstra’s algorithm and A* algorithm are less than the time taken for Dynamic Window Approach. But as in some cases the path obtained for Dijkstra’s algorithm and A* algorithm are not feasible, Dynamic Window Approach can be considered as the suitable path planning method.