A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and ar...
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A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. Computer simulations were conducted to show the feasibility of the proposed method.< >
This article presents an approach to estimate the general 3-D motion of a polyhedral object using multiple sensor data some of which may not provide sufficient information for the estimation of object motion. Motion c...
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This article presents an approach to estimate the general 3-D motion of a polyhedral object using multiple sensor data some of which may not provide sufficient information for the estimation of object motion. Motion can be estimated continuously from each sensor through the analysis of the instantaneous state of an object. The instantaneous state of an object is specified by the rotation, which is defined by a rotation axis and rotation angle, and the displacement of the center of rotation. We have introduced a method based on Moore-Penrose pseudoinverse theory to estimate the instantaneous state of an object, and a linear feedback estimation algorithm to approach the motion estimation. The motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown object. The techniques of multisensor data fusion can be categorized into three methods: averaging, decision, and guiding. We present a fusion algorithm which combines averaging and decision. With the assumption that the motion is smooth, our approach can handle the data sequences from multiple sensors with different sampling times. We can also predict the next immediate object position and its motion. The simulation results show our proposed approach is advantageous in terms of accuracy, speed, and versatility.
Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external &quo...
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Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics and manufacturing.
In this paper, a novel approach to solve the mobile robot path planning problem in an unknown environment is presented. Inherently, the obstacle information from robot perception is contaminated with uncertainties, an...
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To improve the performance of autonomous vehicles operating in a factory environment, it is important to develop an intelligent planning system to avoic. vehicle collisions as well as to design a good path network whi...
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Surface reconstruction from cross-sectional contours has become increasingly important in medical image applications. In this paper, a method of reconstructing the surface of an object based on the descriptions of cro...
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The objective of this paper is to present a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor...
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Wc have developed an innovative ray-tracing simulation algorithm to describe Welativistic Effects in SpaceTime ("REST"). Our algorithm, called REST-frame, models light rays that have assumed infinite speed i...
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An approach to representing and recognizing general 3D curved objects using range data is introduced. A 3D generalized Hough transformation which can be applied to general 3D curved-object recognition and which reduce...
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An approach to representing and recognizing general 3D curved objects using range data is introduced. A 3D generalized Hough transformation which can be applied to general 3D curved-object recognition and which reduces the computation time and storage requirements is developed. The approach makes use of the relative geometric differences between particular points on the object surface and some virtual points which are prespecified arbitrarily and by task. The method has several advantages, such as a simple knowledge base with less storage requirement, flexibility of the database design according to the tasks to be performed, and the capability of compensating for the uncertainties of position estimation due to noise and quantization error. However, the algorithm may not be suitable for a purely planar object.< >
In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable&q...
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In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable" Approach, the "Passivity" approach and the "Variable-Structure" approach. The survey is limited to rigid robots and nonadaptive controllers.
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