Abstract
When applying autonomous industrial robotic systems in an unknown/partially known or cluttered environment, mapping and representation of the environment as well as collision detection becomes crucial. Existing techniques in these areas are generally complex and computationally expensive to implement. In this paper an efficient sphere representation method is introduced for environment representation, collision detection and distance queries. In particular, this method is designed for the application in an autonomous bridge maintenance system. Simulation results show that this method is effective in environment representation and collision detection. Furthermore, the proposed method is also computationally efficient for real-time implementation
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Schwarzer, F., Saha, M., and Latombe, J. C., Adaptive Dynamic Collision Checking for Single and Multiple Articulated Robots in Complex Environments, IEEE Transactions on Robotics, Vol. 21,No. 3, June 2005.
Weghorst, H., Hopper, G., and Greenberg, D. P., Improved Computational Methods for Ray Tracing, ACM Transaction on Graphics, Vol. 3,No. 1, January 1984.
Klosowski, J.T., Held, M., Mitchell, J.S.B., Sowizral, H., and Zikan K., Efficient Collison Detection Using Bounding Volume Hierarchies of k-DOPs, IEEE Transactions on Visualization and Computer Graphics, Vol. 4,No. 1, 1998.
Gottschalk, S., Lin, M.C., and Manocha, D., OBBTree: A Hierarchical Structure for Rapid Interference Detection, Proc. of 23rd Annual Conference on Computer Graphics and Interactive Techniques, ACM press, 1996.
Hubbard, P.M., Interactive Collision Detection, Proc. of IEEE Symposium on Research Frontier in VR, 1993.
Hubbard, P.M., Approximating Polyhedra with Spheres for Time-Critical Collision Detection, ACM Transaction on Graphics, Vol. 15,No. 3, 1996.
Bradshaw, G., O’Sullivan, C., Adaptive medial-axis approximation for sphere-tree construction, ACM Transactions on Graphics, Vol. 23, 2004.
Del Pobil, A.P., Serna, M. A., Llovert, J., A new representation for Collision Avoidance and Detection, Proceeding of the IEEE International Conference on Robotics and Automation, 1992.
Del Pobil, A.P., Pkrez, M., Martinez, B., A Practical Approach to Collision Detection between General Objects, Proceeding of the IEEE International Conference on Robotics and Automation, 1996.
Martinez-Salvador, B., Perez-Francisco, M., Del Pobil, A.P., Collision Detection between Robot Arms and People, Journal of Intelligent and Robotic Systems, Kluwer, Vol. 38, 2003
Okada, K., Inaba, M., Inoue, H., Real-Time and Precise Self Collision Detection System for Humanoid Robots, Proceeding of the IEEE International Conference on Robotics and Automation, 2005.
Larsen, E., Gottschalk, S., Lin, M.C., Manocha, D., Fast Distance Queries with Rectangular Swept Sphere Volumes, Proceeding of the IEEE International Conference on Robotics and Automation, 2000.
Larsen, E., Gottschalk, S., Lin, M.C., Manocha, D., Fast Distance Queries with Swept Sphere Volumes, Department of Computer Science, UNC, Rep. TR99-081, 1999.
Ehmann, S., Lin, M.C., Accelerated Distance Computation between Convex Polyhedra by Multi-Level Marching, Technical Report, Department of Computer Science, UNC at Chapel Hill, 1999.
Kimoto, T., Yasuda, Y., Shape Description and Representation by Ellipsoids, Signal Processing: Image Communication, Vol. 9,No. 3, Elsevier Science, March 1997.
Fünfzig, C., Ullrich, T., Fellner, D.W., Hierarchical Spherical Distance Fields for Collision Detection, Computer Graphics and Applications, IEEE, 26(1), 2006.
Sanchez-Ante, G., Single-Query Bi-Directional Motion Planning with Lazy Collision Checking, PhD thesis, Department of Computer Science, Instituto Tecnologico Y De Estudios, Mexico.
Latombe, J.-C., Robot Motion Planning, Kluwer Academic, 1991.
Johnson, D.E., Cohen, E., A Framework for Efficient Minimum Distance Computations, Proceeding of the IEEE International Conference on Robotics and Automation, 1998.
Caselli, S., Reggiani, M., Mazzoli, M., Exploiting Advanced Collision Detection Libraries in a Probabilistic Motion Planner, Journal of WSCG, 10(1–3), 2002.
Reichenbach, T., Kovacic, Z., Collision-Free Path Planning in Robot Cells Using Virtual 3D Collision Sensor, Cutting Edge Robotics, ISBN 3-86611-038-3, pp. 683–704, ARS/plV, 2005.
Redon, S., Kim, Y.J., Lin, M.C., Manocha, D., Fast Continuous Collison Detection for Articulation Models, ACM Symposium on Solid Modeling and Application, 2004.
Redon, S., Fast Continuous Collision Detection and Handling for Desktop Virtual Prototyping, Virtual Reality, Springer, Vol. 8,No. 1, 2004.
Nocedal, J. and Wright, S. J., Numerical Optimization, Springer-Verlag, New York, 1999
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Xu, J., Liu, D.K., Fang, G. (2007). An Efficient Method for Collision Detection and Distance Queries in a Robotic Bridge Maintenance System. In: Tarn, TJ., Chen, SB., Zhou, C. (eds) Robotic Welding, Intelligence and Automation. Lecture Notes in Control and Information Sciences, vol 362. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73374-4_8
Download citation
DOI: https://doi.org/10.1007/978-3-540-73374-4_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73373-7
Online ISBN: 978-3-540-73374-4
eBook Packages: EngineeringEngineering (R0)