Path planning for mobile agents is one of the areas that has drawn the attention of researchers’, as evidenced in the large number of papers related to the collision-free path planning (CFPP) algorithm. The purpose of this paper is to review the findings of those CFPP papers and the methodologies used to generate possible solutions for CFPP for mobile agents. This survey shows that the previous CFPP papers can be divided based on four characteristics. The performance of each method primarily used to solve CFPP in previous research is evaluated and compared. Several methods are implemented and tested in same computing environment to compare the performance of generating solution in specified spatial environment with different obstacles or size. The strengths and weakness of each methodology for CFPP are shown through this survey. Ideally, this paper will provide reference for new future research.
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