Path length comparison in grid maps of planning algorithms: HCTNav, A* and Dijkstra

Abstract

An important aspect in path planning for mobile robots is to find the shortest path length from one point to another. In this paper, we implement HCTNav algorithm, A∗ and Dijkstra's algorithms on grid based maps and then compare their obtained path lengths. HCTNav algorithm is a path planning algorithm especially designed for low resources robots navigating in grid maps. Also Dijkstra's and A∗ algorithms are well known algorithms in path finding based on graphs, but can be adapted to grid maps. Experimental results demonstrate that HCTNav has a good potential for solving path planning in embedded systems.