The Ariadne's Clew Algorithm
- 1 November 1998
- journal article
- research article
- Published by AI Access Foundation in Journal of Artificial Intelligence Research
- Vol. 9, 295-316
- https://doi.org/10.1613/jair.468
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.This publication has 1 reference indexed in Scilit:
- Manipulation Planning for Redundant Robots: A Practical ApproachThe International Journal of Robotics Research, 1998