tailieunhanh - Robot Motion Planning and Control - J.P. Laumond Part 14

Tham khảo tài liệu 'robot motion planning and control - . laumond part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 318 p. Jimenez F. Thomas and c. Torras time span determine whether any pair will come into contact. More intrincate versions require finding the time and features involved in the first collision or even the time intervals over which objects would be intersecting if they were adhering to the predefined motions. Placing constraints on the inputs is a usual way of simplifying problems. Thus often objects are assumed to be polyhedra usually convex ones and motions are constrained to be translational or quasi-linear. The four main approaches that have been proposed to deal with the different instances of the collision detection problem are described in Section . After this description it becomes clear that tests for static interference lie at the base of most approaches. However the efficiency of a basic interference test does not guarantee that a collision detection algorithm based on it is in turn efficient. The other key factor is the number of times that this test is applied. Therefore it is important to restrict the application of the interference test to those instants and object parts at which a collision can truly occur. Section reviews the different strategies for time and space bounding that have been developed among them distance computation orientation-based pruning criteria and prioritizing collision pairs. Four main approaches Collision detection algorithms can be grouped into four approaches multiple interference detection swept volume interference extrusion in 4D space and trajectory parameterization. As we will see some approaches are linked to a particular object representation scheme . extrusion is particularly suited to a CSG representation while others do not. Multiple interference detection The simplest way to tackle collision detection consists in sampling the trajectories followed by the objects and repeatedly applying a static interference test. This is called the multiple interference detection approach. The way sampling is .