Title :
A practical approach to collision detection between general objects
Author :
Pobil, Angel P del ; Perez, Marcela ; Martínez, Begoña
Author_Institution :
Dept. of Comput. Sci., Jaume-I Univ., Castellon, Spain
Abstract :
Since collision detection is becoming a bottleneck for real-world applications involving increasingly complex geometries, more efficient ways of detecting collisions are called for. Hierarchies of detail based on spheres seem a powerful approach to overcome this problem. A representation for non-convex objects with curved surfaces is presented, which is independent of the number of features used for the polyhedral model of the object. A new algorithm for collision detection between many moving objects is described. Experiments with two different robots show the efficiency of the method
Keywords :
computational geometry; path planning; robots; collision detection; complex geometries; general objects; nonconvex objects; robots; Application software; Computational geometry; Computer science; Face detection; Motion detection; Motion planning; Object detection; Robots; Solid modeling; Testing;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503868