Collision Distance Detection Based on Swept Volume Strategy for Optimal Motion Plan
A swept volume strategy to detect the collision distances between obstacles is presented in this paper for robot motion planning based on optimization technique. The strategy utilizes the recursive quadratic programming optimization method to perform the motion planning problem. This paper is based...
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| Format: | Article |
| Language: | English |
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The Japan Society of Mechanical Engineers
2009-08-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/3/3/3_3_212/_pdf/-char/en |
| _version_ | 1811291825909006336 |
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| author | Tsai-Jeon HUANG |
| author_facet | Tsai-Jeon HUANG |
| author_sort | Tsai-Jeon HUANG |
| collection | DOAJ |
| description | A swept volume strategy to detect the collision distances between obstacles is presented in this paper for robot motion planning based on optimization technique. The strategy utilizes the recursive quadratic programming optimization method to perform the motion planning problem. This paper is based on segmental swept volume for convenient distance-to-contact calculation. Hermite interpolation is presented to approach the envelope bounding the swept volume. The new method is capable of handling a modestly non-convex swept volume and it has yielded accurate answers in distance calculations. Also, examples would be presented to illustrate and demonstrate this approach in the paper. |
| first_indexed | 2024-04-13T04:35:59Z |
| format | Article |
| id | doaj.art-8a36c57d8a904c1686e6863f5ad7a4eb |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-04-13T04:35:59Z |
| publishDate | 2009-08-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-8a36c57d8a904c1686e6863f5ad7a4eb2022-12-22T03:02:10ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542009-08-013321222310.1299/jamdsm.3.212jamdsmCollision Distance Detection Based on Swept Volume Strategy for Optimal Motion PlanTsai-Jeon HUANG0Department of Mechanical Engineering, National Cheng Kung UniversityA swept volume strategy to detect the collision distances between obstacles is presented in this paper for robot motion planning based on optimization technique. The strategy utilizes the recursive quadratic programming optimization method to perform the motion planning problem. This paper is based on segmental swept volume for convenient distance-to-contact calculation. Hermite interpolation is presented to approach the envelope bounding the swept volume. The new method is capable of handling a modestly non-convex swept volume and it has yielded accurate answers in distance calculations. Also, examples would be presented to illustrate and demonstrate this approach in the paper.https://www.jstage.jst.go.jp/article/jamdsm/3/3/3_3_212/_pdf/-char/enmotion planningquadratic programmingoptimizationswept volumedistance calculation |
| spellingShingle | Tsai-Jeon HUANG Collision Distance Detection Based on Swept Volume Strategy for Optimal Motion Plan Journal of Advanced Mechanical Design, Systems, and Manufacturing motion planning quadratic programming optimization swept volume distance calculation |
| title | Collision Distance Detection Based on Swept Volume Strategy for Optimal Motion Plan |
| title_full | Collision Distance Detection Based on Swept Volume Strategy for Optimal Motion Plan |
| title_fullStr | Collision Distance Detection Based on Swept Volume Strategy for Optimal Motion Plan |
| title_full_unstemmed | Collision Distance Detection Based on Swept Volume Strategy for Optimal Motion Plan |
| title_short | Collision Distance Detection Based on Swept Volume Strategy for Optimal Motion Plan |
| title_sort | collision distance detection based on swept volume strategy for optimal motion plan |
| topic | motion planning quadratic programming optimization swept volume distance calculation |
| url | https://www.jstage.jst.go.jp/article/jamdsm/3/3/3_3_212/_pdf/-char/en |
| work_keys_str_mv | AT tsaijeonhuang collisiondistancedetectionbasedonsweptvolumestrategyforoptimalmotionplan |