engleski

On-line collision free trajectory generation using virtual models as space occupancy sensors

Virtual 3D models, normally used for testing and designing systems, can also be used in the systems operational phase as a convenient way to generate on-line collision free trajectories as it is shown in this paper. A virtual environment is used to simulate possible outcomes in system operation, while virtual models serve as space occupancy sensors among objects. Real-time collision detection algorithm, based on the usage of oriented bounding boxes and the triangle/triangle intersection tests is used for determining the exact collision point. A collision avoidance strategy is proposed by changing the manipulator kinematics depending on a collision point which leads to on-line iterative planning of collision free trajectories.

robotics; virtual models; collision avoidance; trajectory planning

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