Path planning using probabilistic cell decomposition

  title={Path planning using probabilistic cell decomposition},
  author={Frank Lingelbach},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  pages={467-472 Vol.1}
We present a new approach to path planning in high-dimensional static configuration spaces. The concept of cell decomposition is combined with probabilistic sampling to obtain a method called probabilistic cell decomposition (PCD). The use of lazy evaluation techniques and supervised sampling in important areas leads to a very competitive path planning method. It is shown that PCD is probabilistic complete, PCD is easily scalable and applicable to many different kinds of problems. Experimental… CONTINUE READING
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