Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Collision-free motion planning of two robots
IEEE Transactions on Systems, Man and Cybernetics
Obstacle Collision Detection Using Best Ellipsoid Fit
Journal of Intelligent and Robotic Systems
Collision Detection for Interactive Graphics Applications
IEEE Transactions on Visualization and Computer Graphics
Journal of Intelligent and Robotic Systems
A Recursive Algorithm for On-line Clustering Obstacles Cluttered in Dynamic Environments
Journal of Intelligent and Robotic Systems
Hi-index | 0.00 |
A fast and accurate method for detecting the collisions of convex polyhedra in a graphical simulation environment based on a newly developed method of distance estimate is presented. By the simultaneous use of the enclosing and the enclosed ellipsoids of convex polyhedra, potential collisions can be detected more accurate than those methods using only bounding volume for object representation, and more efficient than the polyhedral methods. An approach for computing the enclosed ellipsoid of a convex polyhedron by compressing, stretching and scaling operations on its best-fit enclosing ellipsoid is introduced. Graphical simulations of two case studies (moving polyhedral objects in three-dimensional space and multiple robot arms undergoing straight line motions) are conducted to demonstrate the accuracy of the proposed algorithm for collision detection.