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A Comparative Study of Probabilistic Roadmap Planners

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Algorithmic Foundations of Robotics V

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 7))

Abstract

The probabilistic roadmap approach is one of the leading motion planning techniques. Over the past eight years the technique has been studied by many different researchers. This has led to a large number of variants of the approach, each with its own merits. It is difficult to compare the different techniques because they were tested on different types of scenes, using different underlying libraries, implemented by different people on different machines. In this paper we provide a comparative study of a number of these techniques, all implemented in a single system and run on the same test scenes and on the same computer. In particular we compare collision checking techniques, basic sampling techniques, and node adding techniques. The results should help future users of the probabilistic roadmap planning approach to choose the correct techniques.

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Author information

Authors and Affiliations

  1. Institute of Information and Computing Sciences, Utrecht University, P.O. Box 80.089, 3508, TB Utrecht, The Netherlands

    Roland Geraerts & Mark H. Overmars

Authors
  1. Roland Geraerts
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  2. Mark H. Overmars
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Editor information

Editors and Affiliations

  1. INRIA, 2004 Route des Lucioles, 06902, Sophia-Antipolis, France

    Jean-Daniel Boissonnat

  2. Dept. of Mechanical Engineering, California Inst. of Technology, East California Boulevard 12000, 91125, Pasadena, CA, USA

    Joel Burdick

  3. Dept. of Mechanical Engineering, University of California at Berkeley, 4189 Etcheverry Hall, 94720, Berkeley, CA, USA

    Ken Goldberg

  4. Beckman Inst., University of Illinois, North Matthews Avenue 405, 61801, Urbana, IL, USA

    Seth Hutchinson

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© 2004 Springer-Verlag Berlin Heidelberg

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Geraerts, R., Overmars, M.H. (2004). A Comparative Study of Probabilistic Roadmap Planners. In: Boissonnat, JD., Burdick, J., Goldberg, K., Hutchinson, S. (eds) Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45058-0_4

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  • DOI: https://doi.org/10.1007/978-3-540-45058-0_4

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-07341-0

  • Online ISBN: 978-3-540-45058-0

  • eBook Packages: Springer Book Archive

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