Referenced Items are not available for this document.
Since collision detection is becoming a bottleneck for real-world applications involving increasingly complex geometries, more efficient ways of detecting collisions are called for. Hierarchies of detail based on spheres seem a powerful approach to overcome this problem. A representation for non-convex objects with curved surfaces is presented, which is independent of the number of features used for the polyhedral model of the object. A new algorithm for collision detection between many moving objects is described. Experiments with two different robots show the efficiency of the method
Published in:
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
(Volume:1
)
Date of Conference: 22-28 Apr 1996
- Page(s):
- 779 - 784 vol.1
- Meeting Date :
- 22 Apr 1996-28 Apr 1996
- ISSN :
- 1050-4729
- Print ISBN:
- 0-7803-2988-0
- INSPEC Accession Number:
- 5323204
- Conference Location :
- Minneapolis, MN
- Digital Object Identifier :
- 10.1109/ROBOT.1996.503868
- Product Type:
- Conference Publications
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