NDLI: Efficient dynamic collision detection using expanded geometry models

Content Provider	IEEE Xplore Digital Library
Author	Baginski, B.
Copyright Year	1997
Description	Author affiliation: Fakultat fur Inf., Tech. Univ. Munchen, Germany (Baginski, B.)
Abstract	Collision detection for articulated robots along possible trajectories is a basic requirement for path and motion planning systems. We present an approach using static collision tests at selected locations merely to check complete trajectories. This is done by using slightly expanded geometry models. We develop a simple formula for estimating the distance between two positions of a link within a kinematic chain. In the case of straight lines in configuration space, an efficient approximation algorithm is introduced. It calculates the next step in joint space to be close to the maximum possible length. The scheme presented allows the effort required for model-based path planning with line graphs in c-space to be reduced by at least a factor of 4 in the case of six degrees of freedom, compared to a typically used 'classical' method.
Starting Page	1714
Ending Page	1720
File Size	837030
Page Count	7
File Format	PDF
ISBN	0780341198
DOI	10.1109/IROS.1997.656591
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-09-11
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computational geometry Path planning Motion detection Robots Trajectory Motion planning Testing Solid modeling Kinematics Approximation algorithms
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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