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A modeling method for collision detection and motion planning of robots

Published online by Cambridge University Press:  09 March 2009

Chia-Ju Wu
Chia-Ju Wu
Affiliation:
Department of Electrical EngineeringNational Yunlin Institute of TechnologyTouliuYunlin 640Taiwan (R.O.C.)
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Summary

A modeling method for robots is proposed, in which a convex polyhedron is represented as a set of inequalities and a robot is represented as a union of convex polyhedrons. With this method, collision between robots can be detected by solving a set of linear programming problems at every sampling instant. By detecting possible collision at every sampling instant, a directed graph for robots is created. The motion planning problem of robots is then transformed into a path searching problem in the directed graph and can be solved by exisiting searching algorithms.

Keywords

Robots modelingCollision detectionMotion planningLinear programming.
Type
Research Article
Information
Robotica , Volume 11 , Issue 3 , May 1993 , pp. 217 - 226
Copyright
Copyright © Cambridge University Press 1993

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