Journal of Intelligent and Robotic Systems

, Volume 50, Issue 4, pp 361–373

A General Deterministic Sequence for Sampling d-Dimensional Configuration Spaces

  • Jan Rosell
  • Máximo Roa
  • Alexander Pérez
  • Fernando García
Article

DOI: 10.1007/s10846-007-9170-9

Cite this article as:
Rosell, J., Roa, M., Pérez, A. et al. J Intell Robot Syst (2007) 50: 361. doi:10.1007/s10846-007-9170-9

Abstract

Previous works have already demonstrated that deterministic sampling can be competitive with respect to probabilistic sampling in sampling-based path planners. Nevertheless, the definition of a general sampling sequence for any d-dimensional configuration space satisfying the requirements needed for path planning is not a trivial issue. This paper makes a proposal of a simple and yet efficient deterministic sampling sequence based on the recursive use, over a multi-grid cell decomposition, of the ordering of the 2d descendant cells of any parent cell. This ordering is generated by the digital construction method using a d×d matrix Td. A general expression of this matrix (i.e. for any d) is introduced and its performance analyzed in terms of the mutual distance. The paper ends with a performance evaluation of the use of the proposed deterministic sampling sequence in different well known path planners.

Keywords

Deterministic sampling Sampling-based methods Path planning 

Copyright information

© Springer Science+Business Media B.V. 2007

Authors and Affiliations

  • Jan Rosell
    • 1
  • Máximo Roa
    • 1
  • Alexander Pérez
    • 1
  • Fernando García
    • 1
  1. 1.Institute of Industrial and Control Engineering (IOC-UPC)BarcelonaSpain

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