Quasi-randomized path planning

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.

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