1. Parallel Motion Planning with the Ariadne's Clew Algorithm
- Author
-
Emmanuel Mazer, El-Ghazali Talbi, T. Chatroux, Juan-Manuel Ahuactzin, Pierre Bessière, Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle (LIFIA), Institut National Polytechnique de Grenoble (INPG), and Bessiere, Pierre
- Subjects
[INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI] ,0209 industrial biotechnology ,Time path ,[INFO.INFO-RO] Computer Science [cs]/Operations Research [cs.RO] ,Computer science ,[SCCO.COMP]Cognitive science/Computer science ,Mobile robot ,02 engineering and technology ,[INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO] ,Planner ,law.invention ,[INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI] ,020901 industrial engineering & automation ,law ,[SCCO.COMP] Cognitive science/Computer science ,Parallel motion ,Genetic algorithm ,0202 electrical engineering, electronic engineering, information engineering ,Six degrees of freedom ,020201 artificial intelligence & image processing ,Configuration space ,computer ,Algorithm ,Robotic arm ,computer.programming_language - Abstract
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 analyze experiments made with this planner.
- Published
- 1993