Ariadne's clew algorithm - short demo holonomic vehicule

The program planning may run under X11 on a sun workstation with solaris.

It's a motion planner for an holonomic mobile robot using the Ariandn'es Clew Algorithm

After the prompt just type the name of one of the three proposed environment :

• example5.env
• example7.env
• example9.env

The environement should be displayed

Then:

1. clic right to show the initial position (not inside an obstacle)
2. clic right to show the final position (not inside an obstacle)

A plan should be computed and the robot should start moving

It is then possible to move (carrefull it is not really dragging) the obstacles around. To do so :

1. clic right to point the obstacle
2. clic again somewhere else to point where to place this obstacle.

A new plan should be immediately devised.