engleski

Complexity Comparison of two Models for Robot Collision Detection

To find out if a robot is in collision with its environment it is necessary to build a geometry model. The most common basic elements for the geometry model are a prism and a sphere ; therefore, a robot and obstacles are modeled as a set of basic elements. According to the required mathematical operation, it is important to know which model is better. Although a sphere model seems to be better because it is simpler to describe it mathematically, a prism is much more similar to elements of our technical systems. Equations for a sphere model are much simpler than those for a prism model, but the sphere model requires more basic elements. This article quantifies the required mathematical operations for computing if a robot is in collision for both models.

robot collision detection ; prism model ; sphere model

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