NDLI: Collision prediction among polygons with arbitrary shape and unknown motion

Content Provider	IEEE Xplore Digital Library
Author	Yanyan Lu Zhonghua Xi Jyh-Ming Lien
Copyright Year	2014
Description	Author affiliation: Dept. of Comput. Sci., George Mason Univ., Fairfax, VA, USA (Yanyan Lu; Zhonghua Xi; Jyh-Ming Lien)
Abstract	Collision prediction is a fundamental operation for planning motion in dynamic environment. Existing methods usually exploit complex behavior models or use dynamic constraints in collision prediction. However, these methods all assume simple geometries, such as disc, which significantly limit their applicability. This paper proposes a new approach that advances collision prediction beyond disc robots and handles arbitrary polygons. Our new tool predicts collision by assuming that obstacles are adversarial. Comparing to an online motion planner that replans periodically at fixed time interval and planner that approximates obstacle with discs, our experimental results provide strong evidences that the new method significantly reduces the number of replans while maintaining higher success rate of finding a valid path. Our geometric-based collision prediction method provides a tool to handle highly complex shapes and provides a complimentary approach to those methods that consider behavior and dynamic constraints of objects with simple shapes.
Starting Page	4148
Ending Page	4153
File Size	477193
Page Count	6
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6943147
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Collision avoidance Planning Dynamics Shape Robot sensing systems Trajectory
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Passively safe partial motion planning for mobile robots with limited field-of-views in unknown dynamic environments

Collision Prediction Among Polygons with Arbitrary Shape and Unknown Motion

Real-time adaptive motion planning for a continuum manipulator

Online replanning for reactive robot motion: Practical aspects

Time-critical trajectory planning for a car-like robot in unknown environments

Sensor-based motion planning for robot manipulators in unknown environments

Robotic wheeled vehicle ripple tentacles motion planning method

Human Motion Behaviour Aware Planner (HMBAP) for path planning in dynamic human environments

Collision Avoidance in Multi-Robot Systems through Cluttered Environments

Collision prediction among polygons with arbitrary shape and unknown motion

Similar Documents

Passively safe partial motion planning for mobile robots with limited field-of-views in unknown dynamic environments

Collision Prediction Among Polygons with Arbitrary Shape and Unknown Motion

Real-time adaptive motion planning for a continuum manipulator

Online replanning for reactive robot motion: Practical aspects

Time-critical trajectory planning for a car-like robot in unknown environments

Sensor-based motion planning for robot manipulators in unknown environments

Robotic wheeled vehicle ripple tentacles motion planning method

Human Motion Behaviour Aware Planner (HMBAP) for path planning in dynamic human environments

Collision Avoidance in Multi-Robot Systems through Cluttered Environments

Collision prediction among polygons with arbitrary shape and unknown motion