Abstract
In the proposed method, a robot is modeled as a union of three kinds of primitives, namely ellipsoids, spheres and convex polyhedrons. It will be shown that any primitive can be represented as a quadratic inequality or a set of inequalities with transform matrix included. Based on this method and with the addition of safety margins, various algorithms are developed for collision detection between two primitives. The collision detection problem of robots, in which each robot moves along a prescribed path, is then solved in a primitive versus primitive and off-line manner.
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Wu, CJ. On the representation and collision detection of robots. J Intell Robot Syst 16, 151–168 (1996). https://doi.org/10.1007/BF00449703
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DOI: https://doi.org/10.1007/BF00449703