Simulating paleoclimates in the region, researchers found quantitative evidence of three major river systems that likely existed in North Africa 130,000-100,000 years ago, but are now largely buried by dune systems in the desert.
When flowing, these rivers likely provided fertile habitats for animals and vegetation, creating 'green corridors' across the region. At least one river system is estimated to have been 100 km wide and largely perennial.
The Irharhar river, westernmost of the three identified, may represent a likely route of human migration across the region.
"It's exciting to think that 100,000 years ago there were three huge rivers forcing their way across a 1000km of the Sahara desert to the Mediterranean - and that our ancestors could have walked alongside them," said Tom Coulthard from the University of Hull, UK.
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Previous studies have shown that people travelled across the Saharan mountains toward more fertile Mediterranean regions, but when, where and how they did so is a subject of debate.
Existing evidence supports the possibilities of a single trans-Saharan migration, many migrations along one route, or multiple migrations along several different routes.
The simulations provided in this study aim to quantify the probability that these routes may have been viable for human migration across the region.
The study was published in the journal PLOS ONE.