TR: The "Ariadne's Clew" algorithm
pierre bessiere
Pierre.Bessiere at imag.fr
Tue Sep 28 11:33:55 EDT 1993
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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:
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E-Mail: Pierre.Bessiere at imag.fr
Notre esprit a une irresistible tendance a considerer comme plus claire
l'idee qui lui sert le plus souvent.
BERGSON "La pensee et le mouvant"
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