Quasi-randomized path planning

Micliael S. Branicky, Steven M. LaValle, Kari Olson, Libo Yang

Research output: Contribution to journalArticlepeer-review

Abstract

We propose the use of quasi-random sampling techniques for path planning in high-dimensional configuration spaces. Following similar trends from related numerical computation fields, we show several advantages offered by these techniques in comparison to random sampling. Our ideas are evaluated in the context of the probabilistic roadmap (PRM) framework. Two quasi-random variants of PRM-based planners are proposed: 1) a classical PRM with quasi-random sampling, and 2) a quasi-random Lazy-PRM. Both have been implemented, and are shown through experiments to offer some performance advantages in comparison to their randomized counterparts.

Original languageEnglish (US)
Pages (from-to)1481-1487
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
DOIs
StatePublished - Jan 1 2001
Externally publishedYes

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Quasi-randomized path planning'. Together they form a unique fingerprint.

Cite this