Table 1.

Feature comparison between previous research and proposed algorithm for mobile robot with mecanum wheels.

Reference	Sensor Used	Obstacles	Environment	Algorithm Used	Application
[30]	Local/Low-range	Multiple	Statics	Artificial bee colony optimization	Not provided
[31]	Local lidar	Multiple	Static	Hybrid A*, PRM, RRT, and RRT*	General
[32]	Local lidar	Multiple	Static	Improved A* algorithm	Provided
[33]	Simulation	Multiple	Static & dynamic	Artificial potential field and SMC	Not provided
[34]	Multiple (local)	Multiple	Static & dynamic	Improved A* & dynamic window	General
[35]	Multiple (local)	Single	Static & dynamic	Waypoint Navigation	General
Proposed	Local lidar	Multiple	Static & dynamic	Unified A* & Velocity obstacle Alg.	Provided