Collision detection of multiple robots

被引：0

作者：

Wang, SL

机构：

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 1996年 / 11卷 / 04期

关键词：

collision detection and avoidance; path planning;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An efficient collision-detection algorithm is proposed for a multirobot system. Cylinders are used to model links, and Line equations with parameters are used to represent centres of these cylinders. If the distance between two centre-lines is less than the sum of the radii of these two cylinders, and the feet of the common normal of the two centre-lines are inside the links, collision happens. The algorithm can be modified to detect collision between a link and planar or solid obstacles. This algorithm is efficient for online control or offline programming and path planning.

引用

页码：183 / 189

页数：7

共 13 条

[1]

AMIROUCHE FML, 1988, P COMP ENG, V1, P411

[2]

Basta R. A., 1988, Robot Control: Theory and Applications, P185

[3]

CAO B, 1993, P IASTED INT C ROB M, P127

[4] COLLISION-FREE MOTION PLANNING FOR 2 ARTICULATED ROBOT ARMS USING MINIMUM DISTANCE FUNCTIONS [J].