Collision cones for quadric surfaces

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Authors
Chakravarthy, Animesh
Ghose, Debasish
Advisors
Issue Date
2011-12
Type
Article
Keywords
Collision cone , Dynamic environments , Obstacle avoidance , Path planning
Research Projects
Organizational Units
Journal Issue
Citation
Chakravarthy, A.; Ghose, D.; , "Collision Cones for Quadric Surfaces," Robotics, IEEE Transactions on , vol.27, no.6, pp.1159-1166, Dec. 2011 doi: 10.1109/TRO.2011.2159413
Abstract

The problem of collision prediction in dynamic environments appears in several diverse fields, which include robotics, air vehicles, underwater vehicles, and computer animation. In this paper, collision prediction of objects that move in 3-D environments is considered. Most work on collision prediction assumes objects to be modeled as spheres. However, there are many instances of object shapes where an ellipsoidal or a hyperboloid-like bounding box would be more appropriate. In this paper, a collision cone approach is used to determine collision between objects whose shapes can be modeled by general quadric surfaces. Exact collision conditions for such quadric surfaces are obtained in the form of analytical expressions in the relative velocity space. For objects of arbitrary shapes, exact representations of planar sections of the 3-D collision cone are obtained.

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Publisher
IEEE
Journal
Book Title
Series
Robotics, IEEE Transactions on;2011:, v.27, no.6
PubMed ID
DOI
ISSN
1552-3098
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