Navigating mobile robots is a widely studied problem for Autonomous Mobile Robots. Together with path planning and robot navigation, trajectory planning comes to fill gaps related to the dynamics of the robot’s movement. Trajectory planning brings the challenge of evaluating the performance gains obtained from strategies without this module. This work starts with a test methodology inserted in a robot soccer game, a dynamic environment with moving obstacles and objectives. The methodology explores various capabilities of the strategies along with the introduction of Bang-Bang trajectories with the Smith predictor and its evaluation. This work determines each approach’s advantages and verifies the optimization advantages for the proposed state synchronization. The results show a 12% increase in the average speed during movement and a reduction of 26% of the time needed to navigate between two points compared with the visibility graph approach.