Quasi-Randomized Path Planning

  title={Quasi-Randomized Path Planning},
  author={Michael S. Branicky and Steven M. LaValle and Kari Olson and Libo Yang},
We propose the use of quasi-random sampling techniques for path planning in high-dimensional conng-uration spaces. Following similar trends from related numerical computation elds, we show several advantages ooered 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… CONTINUE READING
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