Fast distance computation for on-line collision detection with multi-arm robots

Abstract

A fast method for computing the collision vector for online collision detection with a multi-arm robot is presented. Manipulators and obstacles are modeled by sets of convex polytopes. Known distance algorithms serve as a foundation. To speed up the collision detection dynamic obstacles are approximated by geometric primitives and organized in hierarchies. Online, the dynamic hierarchies are adjusted to the current arm configuration. A comparison with previous methods showed an increased acceleration of the computations.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>