In Robot Motion Planning and Control, 305-343 (1998) ; Collision detection is a basic tool whose performance is of capital importance in order to achieve effciency in many robotics and computer graphics applications, such as motion planning, obstacle avoidance, virtual prototyping, computer animation, physical-based modeling, dynamic simulation, and, in general, all those tasks involving the simulated motion of solids which cannot penetrate one another. In these applications, collision detection appears as a module or procedure which exchanges information with other parts of the system concerning motion, kinematic and dynamic behaviour, etc. It is a widespread opinion to consider collision detection as the main bottleneck in these kinds of applications. In fact, static interference detection, collision detection and the generation of configuration-space obstacles can be viewed as instances of the same problem, where objects are tested for interference at a particular position, along a trajectory and throughout the whole workspace, respectively. The structure of this chapter reflects this fact. ; Peer Reviewed
Collision detection algorithms for motion planning
1998-01-01
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
DDC: | 629 |
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