Parallel Motion Planning with the Ariadne's Clew Algorithm

Emmanuel Mazer (1) , Juan-Manuel Ahuactzin (1) , El-Ghazali Talbi (1) , Pierre Bessiere (1) , T. Chatroux (1)

1 LIFIA - Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle

We describe an implementation of a real time path planner for a robot arm with six degrees of freedom moving among dynamical obstacles. The planner is based on a novel technique called the Ariadne's Clew Algorithm. A brief description of this algorithm and parallel implementation of it are presented. Finally we analyse experiments made with this planner.

Domaines: Informatique; Intelligence artificielle [cs.AI]; Recherche opérationnelle [math.OC]

Emmanuel Mazer, Juan-Manuel Ahuactzin, El-Ghazali Talbi, Pierre Bessiere, T. Chatroux. Parallel Motion Planning with the Ariadne's Clew Algorithm. 1993, 10 p. ⟨hal-00069055⟩