Sampling Techniques for Probabilistic Roadmap Planners
Roland Geraerts, Mark H. Overmars
The probabilistic roadmap approach is a commonly used motion planning technique.
A crucial ingredient of the approach is a sampling algorithm that samples the configuration
space of the moving object for free configurations. Over the past decade many
sampling techniques have been proposed. It is diffcult to compare the different techniques
because they were tested on different types of scenes, using dierent underlying libraries,
implemented by different people on different machines. In this paper we compared 12 of
such sampling techniques within a single environment on the same scenes. The results
were surprising in the sense that techniques often performed differently than claimed by
the designers. The study also showed how diffcult it is to evaluate the quality of the
techniques. The results should help users in deciding which technique is suitable for their
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