Title :
Hough transform for distance computation and collision avoidance
Author :
Bernabeu, Enrique J. ; Tornero, Josep
Author_Institution :
Dept. de Ingenieria de Sistemas y Automatica, Univ. Politecnica de Valencia, Spain
fDate :
6/1/2002 12:00:00 AM
Abstract :
A new technique for collision detection based on the application of the Hough transform is presented in this paper. As a consequence of applying this technique, a method for computing the minimum translational distance (MTD) between two spherically extended polytopes is introduced. This distance algorithm is based on the Gilbert-Johnson-Keerthi (GJK) algorithm. Parameters returned by the MTD algorithm hold collision-free configurations that avoid a predicted collision
Keywords :
Hough transforms; collision avoidance; mobile robots; motion control; Gilbert-Johnson-Keerthi algorithm; Hough transform; collision avoidance; collision detection; distance algorithm; distance computation; minimum translational distance; robot motion; spherically extended polytope; Collision avoidance; Computational efficiency; Government; Image segmentation; Robot motion; Robotics and automation; Solid modeling; Spline; Surface reconstruction; Surface topography;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2002.1019476
