Ariadne's Clew Algorithm
The Ariadne's clew algorithm is a general
pupose path planner based on optimization technics (genetic algorithm).
4 videos demonstrating the capabilities of this algorithm are
proposed. First a 1 Mo MPEG video of the whole demonstration (no
sound), and then 3 videos QuickTime (with commentaries) corresponding
to 3 segments of the previous video.
Ariadne's
clew algorithm (MPEG, 1Mo)
Ariadne's
clew algorithm, part 1 (QT, 4,3 Mo)
Ariadne's
clew algorithm, part 2 (QT, 2,1 Mo)
Ariadne's
clew algorithm, part 2 (QT, 6,5 Mo)
A demo Program of a motion planner
for an holonomic mobile robot using the Ariandn'es Clew Algorithm
is also offered.
References:
- Mazer, E., Ahuactzin, J.M., and Bessiere,
P. (1998) The Ariadne's Clew Algorithm, Journal of Artificial
Intelligence Research (JAIR) Volume 9, pages 295-316.
Abstract, Html, PostScript,
PostScript.Z,
PDF
- Juan-Manuel Ahuactzin, Emmanuel Mazer & Pierre Bessière
(1995); Fondements mathématiques de l'algorithme "fil
d'Ariane" ; Revue d'Intelligence Artificielle
PostScript
(Français 320Ko), PostSript.gz,
PDF
- Juan-Manuel Ahuactzin (1994); Planification et heuristique
en robotique; Thèse de troisième cycle INPG
(Institut National Polytechnique de Grenoble); Grenoble, France
Abstract,
PostScript.gz
(Français, 2.5Mo), PDF
(Français, 3,2Mo)