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The paper presents a comprehensive performance evaluation of some heuristicsearch algorithms in the context of autonomous systems and robotics. Theobjective of the study is to evaluate and compare the performance of differentsearch algorithms in different problem settings on the pathfinding domain.Experiments give us insight into the behavior of the evaluated heuristic searchalgorithms, over the variation of different parameters: domain size, obstacledensity, and distance between the start and the goal states. Results are thenused to design a selection algorithm that, on the basis of problemcharacteristics, suggests the best search algorithm to use.

Evaluating Heuristic Search Algorithms in Pathfinding: A Comprehensive Study on Performance Metrics and Domain Parameters