Geometric modelling, collision detection, collision avoidance and path planning based on the Hough Transform

Bernabeu, Enrique J.; Tornero, Josep
May 2000
AIP Conference Proceedings;2000, Vol. 517 Issue 1, p638
Academic Journal
This paper presents a new method based on the application of the Hough Transform for solving the robot motion problem and their intermediate steps: geometric modelling and collision detection. In terms of modelling, given a set of points, which is the representation of a given object, the maximum inner and the minimum outer spherically-extended polytopes (s-tope) are automatically generated. Collision detection is based on the computation of the translational penetration distance. Such a distance also allows to compute an intermediate point when collision avoidance is required. The set of intermediate points describes a solution to the path-planning problem. This new approach introduces an important decrease in the computational time required for robot motion planning. © 2000 American Institute of Physics.


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