A General Deterministic Sequence for Sampling d-Dimensional Configuration Spaces

Authors:
Jan Rosell;Máximo Roa;Alexander Pérez;Fernando García
Affiliations:
Institute of Industrial and Control Engineering (IOC-UPC), Barcelona, Spain;Institute of Industrial and Control Engineering (IOC-UPC), Barcelona, Spain;Institute of Industrial and Control Engineering (IOC-UPC), Barcelona, Spain;Institute of Industrial and Control Engineering (IOC-UPC), Barcelona, Spain
Venue:
Journal of Intelligent and Robotic Systems
Year:
2007

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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 2 d descendant cells of any parent cell. This ordering is generated by the digital construction method using a d脳d matrix T d . 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.