DocumentCode
787661
Title
Hough transform for distance computation and collision avoidance
Author
Bernabeu, Enrique J. ; Tornero, Josep
Author_Institution
Dept. de Ingenieria de Sistemas y Automatica, Univ. Politecnica de Valencia, Spain
Volume
18
Issue
3
fYear
2002
fDate
6/1/2002 12:00:00 AM
Firstpage
393
Lastpage
398
Abstract
A new technique for collision detection based on the application of the Hough transform is presented in this paper. As a consequence of applying this technique, a method for computing the minimum translational distance (MTD) between two spherically extended polytopes is introduced. This distance algorithm is based on the Gilbert-Johnson-Keerthi (GJK) algorithm. Parameters returned by the MTD algorithm hold collision-free configurations that avoid a predicted collision
Keywords
Hough transforms; collision avoidance; mobile robots; motion control; Gilbert-Johnson-Keerthi algorithm; Hough transform; collision avoidance; collision detection; distance algorithm; distance computation; minimum translational distance; robot motion; spherically extended polytope; Collision avoidance; Computational efficiency; Government; Image segmentation; Robot motion; Robotics and automation; Solid modeling; Spline; Surface reconstruction; Surface topography;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/TRA.2002.1019476
Filename
1019476
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