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arXiv · 2605.25010

Performance Comparison of Classical and Neural Sampling Algorithms for Robotic Navigation

Hichem Cheriet·Badra Khellat Kihel·Samira Chouraqui
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Abstract

Integrating artificial intelligence (AI) into sampling-based motion planning provides new possibilities for improving autonomous navigation efficiency. In this paper, three algorithms, namely RRT*, Neural RRT*, and Neural Informed RRT*, are implemented and evaluated on environments containing convex and concave obstacles with different obstacle densities. The obtained results indicate that neural-guided planners improve path quality, producing up to 14\% shorter paths and 55--75\% smoother trajectories compared with the conventional RRT* algorithm. Among the evaluated methods, Neural Informed RRT* achieves the best overall performance in terms of path length and trajectory smoothness. These results demonstrate the effectiveness of AI-guided sampling strategies for improving reliability and trajectory efficiency in robotic and UAV navigation, despite a slight increase in computation time. Overall, the study highlights the growing importance of artificial intelligence in real-time robotic path planning applications.

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Hichem Cheriet, Badra Khellat Kihel, Samira Chouraqui. 2026-05-24. Performance Comparison of Classical and Neural Sampling Algorithms for Robotic Navigation. https://arxiv.org/abs/2605.25010

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