Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
Continuous Collision Detection for Ellipsoids
IEEE Transactions on Visualization and Computer Graphics
Reactive path planning in a dynamic environment
IEEE Transactions on Robotics
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance
Journal of Intelligent and Robotic Systems
Kinematics-based characterization of the collision course
International Journal of Robotics and Automation
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
Collision Cones for Quadric Surfaces
IEEE Transactions on Robotics
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Avoidance of collision between moving objects in a 3-D environment is fundamental to the problem of planning safe trajectories in dynamic environments. This problem appears in several diverse fields including robotics, air vehicles, underwater vehicles and computer animation. Most of the existing literature on collision prediction assumes objects to be modelled as spheres. While the conservative spherical bounding box is valid in many cases, in many other cases, where objects operate in close proximity, a less conservative approach, that allows objects to be modelled using analytic surfaces that closely mimic the shape of the object, is more desirable. In this paper, a collision cone approach (previously developed only for objects moving on a plane) is used to determine collision between objects, moving in 3-D space, whose shapes can be modelled by general quadric surfaces. Exact collision conditions for such quadric surfaces are obtained and used to derive dynamic inversion based avoidance strategies.