Guaranteed collision detection with toleranced motions

DOI10.1016/J.CAGD.2014.08.001MaRDI QIDQ2396310zbMATH OpenOpenAlexFDO

Authors Hans-Peter Schröcker, Matthias J. Weber

Publication date 8 June 2017

Published in Computer Aided Geometric Design (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1310.8097

zbMATH Keywords

bounding ballbounding volumecollision detectiontoleranced motion

Mathematics Subject Classification ID

Numerical aspects of computer graphics, image analysis, and computational geometry (65D18) Kinematics of mechanisms and robots (70B15)

Abstract: We present a method for guaranteed collision detection with toleranced motions. The basic idea is to consider the motion as a curve in the 12-dimensional space of affine displacements, endowed with an object-oriented Euclidean metric, and cover it with balls. The associated orbits of points, lines, planes and polygons have particularly simple shapes that lend themselves well to exact and fast collision queries. We present formulas for elementary collision tests with these orbit shapes and we suggest an algorithm, based on motion subdivision and computation of bounding balls, that can give a no-collision guarantee. It allows a robust and efficient implementation and parallelization. At hand of several examples we explore the asymptotic behavior of the algorithm and compare different implementation strategies.

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Cites work

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Cited in

(7)

• 3D collision-free motion based on collision index
• Parallel collision detection between moving robots for practical motion planning
• A novel prediction‐based collision resolution algorithm
• scientific article; zbMATH DE number 176591 (Why is no real title available?)
• Defending continuous collision detection against errors
• Fast and exact continuous collision detection with Bernstein sign classification
• Real-time self-collision detection algorithms for tensegrity systems

Describes a project that uses

Uses Software

• ISOLATE

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