On the relationship between classical grid search and probabilistic roadmaps

We present, implement, and analyze a spectrum of closely-related planners, designed to gain insight into the relationship between classical grid search and probabilistic roadmaps (PRMs). Building on quasi-Monte Carlo sampling literature, we have developed deterministic variants of the PRM that use low-discrepancy and low-dispersion samples, including lattices. Classical grid search is extended using subsampling for collision detection and also the optimal-dispersion Sukharev grid, which can be considered as a kind of lattice-based roadmap to complete the spectrum. Our experimental results show that the deterministic variants of the PRM offer performance advantages in comparison to the original PRM and the recent Lazy PRM. This even includes searching using a grid with subsampled collision checking. Our theoretical analysis shows that all of our deterministic PRM variants are resolution complete and achieve the best possible asymptotic convergence rate, which is shown superior to that obtained by random sampling. Thus, in surprising contrast to recent trends, there is both experimental and theoretical evidence that some forms of grid search are superior to the original PRM.