Theprobabilisticroadmapapproachisoneoftheleadingmotionplan-ningtechniques.Overthepasteightyearsthetechniquehasbeenstudiedbymanydifferentresearchers.Thishasledtoalargenumberofvariantsoftheapproach,eachwithitsownmerits.Itisdifficulttocomparethedifferenttechniquesbecausetheyweretes