title: The Ariadne's Clew Algorithm
creator: Mazer, Dr E
creator: Ahuactzin, Dr J-M
creator: Bessiere, Dr P
subject: Robotics
description: We present a new approach to path planning, called the ``Ariadne's clew algorithm''. It is designed to find paths in high-dimensional continuous spaces and applies to robots with many degrees of freedom in static, as well as dynamic environments --- ones where obstacles may move. The Ariadne's clew algorithm comprises two sub-algorithms, called SEARCH and EXPLORE, applied in an interleaved manner. EXPLORE builds a representation of the accessible space while SEARCH looks for the target. Both are posed as optimization problems. We describe a real implementation of the algorithm to plan paths for a six degrees of freedom arm in a dynamic environment where another six degrees of freedom arm is used as a moving obstacle. Experimental results show that a path is found in about one second without any pre-processing.
date: 1998
type: Journal (Paginated)
type: NonPeerReviewed
format: application/pdf
identifier: http://cogprints.org/3751/1/mazer98a.pdf
identifier:   Mazer, Dr E and Ahuactzin, Dr J-M and Bessiere, Dr P  (1998) The Ariadne's Clew Algorithm.  [Journal (Paginated)]     
relation: http://cogprints.org/3751/