Experimental Comparison of Global Planners for Trajectory Planning of Mobile Robots in an Unknown Environment with Dynamic Obstacles

Interacting with their workspace, detecting obstacles, and real-time path planning in the field to reach the goal in the unknown environment are current working areas of mobile robotics. Working in an unknown environment with dynamic obstacles is a challenging topic for autonomous robots, which need to protect themselves from the dynamic obstacles they encounter, not damage the obstacle, and re-plan their path according to their new position. This study performed an experimental comparison of three different global planners for trajectory planning of mobile robots in an unknown environment with dynamic obstacles. Global Planner, Carrot Planner, and NavfnROS planners in the ROS package were used as global planners in two different mazes with dynamic obstacles. The durations from the start to the goal point in the two designed environments were determined for each global planner.