Fast swept-volume distance for robust collision detection

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Description

The need for collision detection arises in several robotics areas, including motion-planning, online collision avoidance, and simulation. At the heart of most current methods are algorithms for interference detection and/or distance computation. A few recent algorithms and implementations are very fast, but to use them for accurate collision detection, very small step sizes can be necessary, reducing their effective efficiency. We present a fast, implemented technique for doing exact distance computation and interference detection for translationally-swept bodies. For rotationally swept bodies, we adapt this technique to improve accuracy, for any given step size, in distance computation and interference detection. We ... continued below

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9 p.

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Xavier, P.G. April 1, 1997.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 26 times . More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

The need for collision detection arises in several robotics areas, including motion-planning, online collision avoidance, and simulation. At the heart of most current methods are algorithms for interference detection and/or distance computation. A few recent algorithms and implementations are very fast, but to use them for accurate collision detection, very small step sizes can be necessary, reducing their effective efficiency. We present a fast, implemented technique for doing exact distance computation and interference detection for translationally-swept bodies. For rotationally swept bodies, we adapt this technique to improve accuracy, for any given step size, in distance computation and interference detection. We present preliminary experiments that show that the combination of basic and swept-body calculations holds much promise for faster accurate collision detection.

Physical Description

9 p.

Notes

OSTI as DE97003200

Source

  • 1997 international conference on robotics and automation, Albuquerque, NM (United States), 20-25 Apr 1997

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  • Other: DE97003200
  • Report No.: SAND--97-0385C
  • Report No.: CONF-970469--11
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 453743
  • Archival Resource Key: ark:/67531/metadc675984

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • April 1, 1997

Added to The UNT Digital Library

  • July 25, 2015, 2:21 a.m.

Description Last Updated

  • May 5, 2016, 8:04 p.m.

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Xavier, P.G. Fast swept-volume distance for robust collision detection, article, April 1, 1997; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc675984/: accessed July 21, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.