Publikationsdatenbank
Publication
Fast Distance Computation for On-line Collision Detection with Multi-Arm RobotsDominik Henrich , Xiaoqing Cheng
Abstract (english)
For the online collision detection with a multi-arm robot a fast method for computing the so-called collision vector is presented. Manipulators and obstacles are modelled by sets of convex polytopes. Known distance algorithms serve as a foundation. To speed up the collision detection dynamic obstacles are approximated by geometric primitives and organized in hierarchies. On-line, the here introduced Dynamic Hierarchies are adjusted to the current arm configuration. A comparison with previous methods shows an increased acceleration of the computations.
Publication data
| Year: | 1992 |
| Publication date: | 12. May 1992 |
| Source: | IEEE International Conference on Robotics and Automation, Nizza, France, 12.-14. May 1992, pp. 2514-2519 |
| Project: | SKALP , CODET , PARO |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=henrich1992a |
BibTeX
@MISC{henrich1992a,
TITLE = "Fast Distance Computation for On-line Collision Detection with Multi-Arm Robots",
AUTHOR = "Henrich, Dominik and Cheng, Xiaoqing",
YEAR = "1992",
JOURNAL = "IEEE International Conference on Robotics and Automation, Nizza, France, 12.-14. May 1992, pp. 2514-2519",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=henrich1992a}",
}
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| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| henrich1992a.Fast.Distance.Computation.for.Online.Collision. Detection.with.MultiArm.Robots.djvu |
128K | english | DJVU | download preprint | |||
| henrich1992a.Fast.Distance.Computation.for.Online.Collision. Detection.with.MultiArm.Robots.pdf |
68.7K | english | download preprint |