Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Collision Detection for Moving Polyhedra
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distance estimation and collision prediction for on-line robotic motion planning
Automatica (Journal of IFAC)
Efficient collision prediction among many moving objects
International Journal of Robotics Research
Robot Motion Planning
Reducing the Complexity of Robot‘s Scene for Faster Collision Detection
Journal of Intelligent and Robotic Systems
3D Collision-Free Motion Based on Collision Index
Journal of Intelligent and Robotic Systems
Detection, Tracking and Avoidance of Multiple Dynamic Objects
Journal of Intelligent and Robotic Systems
Collision Detection for Interactive Graphics Applications
IEEE Transactions on Visualization and Computer Graphics
Incremental Algorithms for Collision Detection Between Polygonal Models
IEEE Transactions on Visualization and Computer Graphics
Image-Based Techniques in a Hybrid Collision Detector
IEEE Transactions on Visualization and Computer Graphics
A Monocular Collision Warning System
CRV '05 Proceedings of the 2nd Canadian conference on Computer and Robot Vision
Interactive continuous collision detection for non-convex polyhedra
The Visual Computer: International Journal of Computer Graphics
Roadmap-based motion planning in dynamic environments
IEEE Transactions on Robotics
Continuous Collision Detection for Two Moving Elliptic Disks
IEEE Transactions on Robotics
Obstacle avoidance in a dynamic environment: a collision cone approach
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
| Hi-index | 0.00 |
This paper deals with the problem of collision course checking in a dynamic environment for mobile robotics applications. Our method is based on the relative kinematic equations between moving objects. These kinematic equations are written under polar form. A transformation of coordinates is derived. Under this transformation, collision between two moving objects is reduced to collision between a stationary object and a virtual moving object. In addition to the direct collision course, we define the indirect collision course, which is more critical and difficult to detect. Under this formulation, the collision course problem is simplified, and complex scenarios are reduced to simple scenarios. In three-dimensional (3D) settings, the working space is decomposed into two planes: the horizontal plane and the vertical plane. The collision course detection in 3D is studied in the vertical and horizontal planes using 2D techniques. This formulation brings important simplifications to the collision course detection problem even in the most critical and difficult scenarios. An extensive simulation is used to illustrate the method in 2D and 3D working spaces.