Path planning and motion control are primary goals in mobile robotics since they are the basis of autonomous navigation. This work presents a quantitative methodology to compare different algorithms that solve the path-planning problem, taking into account their basic concepts and results obtained in three simulation scenarios. The resulting trajectories are smoothed by Spline and B-Spline interpolation methods in order to propose a solution to the non-holonomic constraints of a differential-traction robot with a tracking controller. The comparison is based on simulations to calculate indexes and evaluate different performance criteria.