NDLI: A new algorithm for construction of discretized configuration space obstacle and collision detection of manipulators

Content Provider	IEEE Xplore Digital Library
Author	Xiaojun Wu Qing Li Heng, K.H.
Copyright Year	2005
Description	Author affiliation: Sch. of Mech. & Production Eng., Nanyang Technol. Univ. (Xiaojun Wu; Qing Li; Heng, K.H.)
Abstract	A novel approach for configuration space obstacle(C-obstacle) construction and collision detection of manipulators by precompiling the global topology of a robot's free space is proposed in this paper. The approach consists of an off-line phase plus an on-line phase. In the off-line phase, a C-obstacle database (COD) for a given robot is setup in which the C-obstacle bitmaps are stored and indexed by the cells of the workspace; in the on-line phase, when the same robot is operated in a real environment, those maps whose indexes match the real obstacle cells in the environment are identified and then extracted from the COD database. The superposition of these maps forms the required on-line C-obstacle in the application scenario. Based on the COD database, collision can also be detected for any given configurations of the robot in a dynamic environment. The proposed approach is a general one which is applicable to manipulators with any kinematic structure and geometric shape. Since the time-consuming construction of the COD database is implemented in off-line phase, the on-line running time is only for the identification of components in the COD database, hence the proposed approach for C-obstacle construction and collision detection is applicable for robot manipulation in dynamic environments. Simulations involving different types of manipulators are studied and the results have verified the feasibility and efficiency of the proposed approach
Sponsorship	Univ. of Washington IEEE Robotics and Autom. Soc. Microsoft Coroware Inc
Starting Page	90
Ending Page	95
File Size	1588945
Page Count	6
File Format	PDF
ISBN	0780391780
DOI	10.1109/ICAR.2005.1507396
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Orbital robotics Space technology Algorithm design and analysis Spatial databases Manipulator dynamics Shape Motion planning Path planning Service robots
Content Type	Text
Resource Type	Article

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