Performance Analysis Tool for Reactive Mobile Robots

This paper addresses the problem of evaluating mobility performance of mobile robots during a navigation task in unknown environment. Reactive architecture is used to control the robot in accordance with the dynamic of the environment. An analysis methodology is proposed using performance measures (time, distance, etc). So, due to the nature of measured criteria, non dimensional metrics with respect of robot and task are deened. A global statistical index is then introduced through a multi-criteria resolution. Mobile robot analysis is then deducted from this quantitative index. Simulation examples are proposed to validate the methodology.