Here is a nice article on the subject: http://www.searchenginejournal.com/google-recommends-using-xml-sitemaps-rssatom-feeds-optimal-crawling/118364/
"Google explains the differences between the formats by saying that XML sitemaps describe a whole set of URLs within a site, while RSS/Atom feeds only describe the most recent changes. As a result of XML sitemaps containing more information, they are typically larger than RSS/Atom feeds. XML sitemaps are also downloaded less frequently.
As a website owner, which format should you use if you want your website to be crawled to the best of Google’s ability. Google recommends using both, explaining how the formats compliment each other."