Robust path planning in the plane

Rosa, Fernando De la; Laugier, Christian; Najera, J.

doi:10.1109/70.488954

Cited by 11 publications

(1 citation statement)

References 15 publications

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“…Several planners have been implemented in this way: a ne motion planner (De la Rosa, Laugier, & Najera, 1996), two motion planners for holonomic and non-holonomic mobile robots (Scheuer & Fraichard, 1997), a reorientation planner for an articulated hand (Gupta, 1995), a planner for grasping and regrasping (Ahuactzin, Gupta, & Mazer, 1998), and a planner for a robotic arm placed in the steam generator of a nuclear plant (McLean & Mazon, 1996). Adapting the algorithm to a new application is, therefore, clearly a very easy task.…”

Section: Generalitymentioning

confidence: 99%

The Ariadne's Clew Algorithm

Mazer¹,

Ahuactzin²,

Bessìère³

1998

jair

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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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