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arXiv · 1105.5440

The Ariadne's Clew Algorithm

J. M. Ahuactzin·P. Bessiere·E. Mazer
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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.

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J. M. Ahuactzin, P. Bessiere, E. Mazer. 2011-05-27. The Ariadne's Clew Algorithm. https://doi.org/10.1613/jair.468

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