The Ariadne's Clew Algorithm Pierre Bessi Ere
نویسندگان
چکیده
We present a new approach to path planning, called the \Ariadne's clew algorithm". It is designed to nd 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.
منابع مشابه
The "Ariadne's clew"1 algorithm: Global planning with local methods2
In order to do so, we propose a method, called "ARIADNE'S CLEW algorithm", to build a global path planner based on the combination of two local planning algorithms : an EXPLORE algorithm and a SEARCH algorithm. The purpose of the EXPLORE algorithm is to collect information about the environment with an increasingly fine resolution by placing landmarks in the searched space. The goal of the SEAR...
متن کاملThe Ariadne's Clew Algorithm
We present a new path planning technique called the \Ariadne's clew algorithm 1 " designed to nd pathes in huge continuous spaces and applied to the control of robots with many degrees of freedom in dynamical environments where the obstacles may move. The Ariadne's clew algorithm is the result of a cooperation between to algorithms called SEARCH and EXPLORE. EXPLORE builds a representation of t...
متن کاملThe "Ariadne's clew" algorithm: global planning with local methods
The goal of the work described in this paper is to build a path planner able to drive a robot in a dynamic environment where the obstacles are moving. In order to do so, we propose a method, called "ARIADNE'S CLEW algorithm", to build a global path planner based on the combination of two local planning algorithms : an EXPLORE algorithm and a SEARCH algorithm. The purpose of the EXPLORE algorith...
متن کاملThe Ariadne ' s Clew AlgorithmEmmanuel
We present a new approach to path planning, called the \Ariadne's clew algorithm". It is designed to nd 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. ex...
متن کامل