Title :
Fast distance computation for on-line collision detection with multi-arm robots
Author :
Henrich, Dagmar ; Cheng, Xiaoyin
Author_Institution :
Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ.
Abstract :
A fast method for computing the collision vector for online collision detection with a multi-arm robot is presented. Manipulators and obstacles are modeled by sets of convex polytopes. Known distance algorithms serve as a foundation. To speed up the collision detection dynamic obstacles are approximated by geometric primitives and organized in hierarchies. Online, the dynamic hierarchies are adjusted to the current arm configuration. A comparison with previous methods showed an increased acceleration of the computations
Keywords :
computational geometry; computerised navigation; path planning; robots; collision vector; convex polytopes; distance computation; dynamic hierarchies; geometric primitives; manipulation; multiarm robots; obstacle avoidance; online collision detection; Acceleration; Arm; Collision avoidance; Computational geometry; Manipulator dynamics; Object detection; Orbital robotics; Real time systems; Robots; Testing;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220063
