TY  - GEN
ID  - cogprints3751
UR  - http://cogprints.org/3751/
A1  - Mazer, Dr E
A1  - Ahuactzin, Dr J-M
A1  - Bessiere, Dr P
Y1  - 1998///
N2  - 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.
TI  - The Ariadne's Clew Algorithm
SP  - 295
AV  - public
EP  - 316
ER  -

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