Fast Transformations to Provide Simple Geometric Models of Moving Objects

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• 关键词：Manufacturing ; Navigation obstacles ; Robot ; Model
• 刊名：Lecture Notes in Computer Science
• 出版年：2015
• 出版时间：2015
• 年：2015
• 卷：9244
• 期：1
• 页码：604-615
• 全文大小：213 KB
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• 作者单位：David Adrian Sanders (9)
  Giles Tewkesbury (9)
  Alexander Gegov (10)
  
  9. School of Engineering, University of Portsmouth, Portsmouth, UK
  10. School of Computing, University of Portsmouth, Portsmouth, UK
  
• 丛书名：Intelligent Robotics and Applications
• ISBN：978-3-319-22879-2
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349

文摘

Models are compared for use with a sensor system working in real time (in this case a simple image processing system). A static robot work-cell is modelled as several solid polyhedra. This model is updated as new objects enter or leave the work-place. Similar 2-D slices in joint space, and spheres and simple polhedra are used to model these objects. The three models are compared for their ability to be updated with new information and for the efficiency of the whole system in accessing data concerning new objects. The system supplies data to a “Path Planner-containing a geometric model of the static environment and a robot. The robot structure is modelled as connected cylinders and spheres and the range of motion is quantised.