creators_name: Mazer, E
creators_name: Ahuactzin, J-M
creators_name: Bessiere, P
type: journalp
datestamp: 2004-08-10
lastmod: 2011-03-11 08:55:39
metadata_visibility: show
title: The Ariadne's Clew Algorithm
ispublished: pub
subjects: comp-sci-robot
full_text_status: public
abstract: 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
date_type: published
publication: Journal of Artificial Intelligence Research (JAIR)
volume: 9
pagerange: 295-316
refereed: FALSE
citation:   Mazer, Dr E and Ahuactzin, Dr J-M and Bessiere, Dr P  (1998) The Ariadne's Clew Algorithm.  [Journal (Paginated)]     
document_url: http://cogprints.org/3751/1/mazer98a.pdf