NDLI: Obstacle count independent real-time collision avoidance

Content Provider	IEEE Xplore Digital Library
Author	Greenspan, M. Burtnyk, N.
Copyright Year	1996
Description	Author affiliation: Nat. Res. Council of Canada, Ottawa, Ont., Canada (Greenspan, M.; Burtnyk, N.)
Abstract	Robotic manipulator real-time collision avoidance is a safety critical mode of teleoperation where motion commands which would result in a collision are disallowed. To achieve real-time performance, it is necessary to efficiently detect impending collisions between the manipulator and the workspace obstacles. A collision detection method is presented which is based upon two representations. The dynamic elements, such as the manipulator links, are modelled as sets of spheres. The static elements, such as the workspace obstacles, are represented as a weighted voxel map, in which the value of any voxel is indicative of its distance to the nearest obstacle. Combining these two representations results in a collision detection method which is obstacle count independent, i.e. independent of the number of obstacles in the workspace. This property is desirable for operation in cluttered environments with many obstacles, where the total number of calculations in the alternative collision detection paradigm of pairwise comparison will prohibit real-time performance. The method is efficient enough to satisfy a hard real-time constraint Novel algorithms are described to generate the voxel map and spherical model representations, and an implementation is described which uses the collision detection method for real-time teleoperated collision avoidance and online path planning of a Puma 560 manipulator.
Starting Page	1073
Ending Page	1080
File Size	1047645
Page Count	8
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.506851
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Collision avoidance Manipulator dynamics Path planning Safety Motion planning Motion control Robot sensing systems Councils Motion detection Control systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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