All these words are synonyms, but not complete synonyms. The words «возвратиться» and «возвращаться» are cognate. The difference is in their use. You can use all of them after some words like "нужно", "нельзя", "необходимо", "можно". The word «возвращаться» has more general idea, like someone's possibility to come back. The words «возвратиться» and «вернуться» have more motivation in their meanings, like someone's intention to come back. You can say: "Я хочу вернуться/возвратиться" ,but "Я не хочу возвращаться", but "Я не могу вернуться/возвратиться". By the way, the word «возвратиться» is rarely used and sounds a bit strange. If you want more examples, write to me.