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Comparison of Global Path Planning Algorithms Regarding Multi Mobile Robot Object Transport Requirements

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Original languageEnglish
Title of host publicationAnnals of Scientific Society for Assembly, Handling and Industrial Robotics 2023
PublisherSpringer Science + Business Media
Pages99-110
Number of pages12
ISBN (electronic)9783031740107
ISBN (print)9783031740091
Publication statusPublished - 20 Mar 2025

Abstract

This paper presents a comparison of multiple global path planning algorithms regarding their usage in multi-robot systems. Most performance-based comparisons only focus on computation time and path length, which are not the most important indicators when transporting an object using a multi-robot formation. Therefore, we decided to add the distance to obstacles and curvature of the path as performance metrics to support the selection of a fitting global path planner for a multi-robot application. In the comparison, we included the PRM, RRT*, Relaxed A* and Voronoi path planning algorithms. Each algorithm performs a specified number of planning tasks and is evaluated by the planning success, path length, obstacle distance and curvature, which are visualized below.

Keywords

    Global path planning, Mobile robot, Navigation

ASJC Scopus subject areas

Cite this

Comparison of Global Path Planning Algorithms Regarding Multi Mobile Robot Object Transport Requirements. / Lurz, Henrik; Recker, Tobias; Raatz, Annika.
Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2023. Springer Science + Business Media, 2025. p. 99-110.

Research output: Chapter in book/report/conference proceedingContribution to book/anthologyResearchpeer review

Lurz, H, Recker, T & Raatz, A 2025, Comparison of Global Path Planning Algorithms Regarding Multi Mobile Robot Object Transport Requirements. in Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2023. Springer Science + Business Media, pp. 99-110. https://doi.org/10.1007/978-3-031-74010-7_9
Lurz, H., Recker, T., & Raatz, A. (2025). Comparison of Global Path Planning Algorithms Regarding Multi Mobile Robot Object Transport Requirements. In Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2023 (pp. 99-110). Springer Science + Business Media. https://doi.org/10.1007/978-3-031-74010-7_9
Lurz H, Recker T, Raatz A. Comparison of Global Path Planning Algorithms Regarding Multi Mobile Robot Object Transport Requirements. In Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2023. Springer Science + Business Media. 2025. p. 99-110 doi: 10.1007/978-3-031-74010-7_9
Lurz, Henrik ; Recker, Tobias ; Raatz, Annika. / Comparison of Global Path Planning Algorithms Regarding Multi Mobile Robot Object Transport Requirements. Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2023. Springer Science + Business Media, 2025. pp. 99-110
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