TR: The "Ariadne's Clew" algorithm

[pierre bessiere]

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TITLE		:THE "ARIADNE'S CLEW" ALGORITHM
		 Global planning with local methods
AUTHOR(S)	:Pierre Bessiere, Juan-Manuel Ahuactzin, El-Ghazali Talbi &
		 Emmanuel Mazer
REFERENCE	:IEEE-IROS'93 conference, Yokohama, Japan, 1993
LANGUAGE	:English
LENGTH		:8 pages
DATE		:28/09/93
KEYWORDS	:Robotic, Genetic Algorithm, Path planning
FILE NAME	:bessiere.iros93.e.ps.Z
Author E-mail	:Pierre.Bessiere at imag.fr
Related Files	:
ABSTRACT	:

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 algorithm is to collect information about 
the environment with an increasingly fine resolution by placing landmarks 
in the searched space. The goal of the Search algorithm is to 
opportunistically check if the target can be easily reached from any 
given placed landmark.

The Ariadne's clew algorithm is shown to be very fast in most cases 
allowing plannning in dynamic environments. Hence, it is shown complete, 
which means that it is sure to find a path when one exists. 
Finally, we describe a massively parallel implementation of this algorithm.

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-- 

Pierre BESSIERE
***************

CNRS - IMAG/LIFIA                         phone:
46 ave. Felix Viallet                     Work: 33/76.57.46.73
38031 Grenoble Cedex                      Home: 33/76.88.06.09
FRANCE                                    Fax:  33/76.57.46.02

E-Mail: Pierre.Bessiere at imag.fr


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l'idee qui lui sert le plus souvent.

BERGSON "La pensee et le mouvant"