By Topic

A recursive algorithm of obstacles clustering for reducing complexity of collision detection in 2D environment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Jin-Liang Chen ; Inst. of Inf. Sci., Acad. Sinica, Taipei, Taiwan ; Liu, J.S. ; Wan-Chi Lee

In applications of industrial robots, the robot manipulator must traverse a pre-specified Cartesian curve (path) with its hand tip while links of the robot safely move among obstacles. In order to reduce the costs of collision detection, the number of collision checks can be reduced by enclosing a few obstacles (a cluster) with a larger (artificial) bounding volume, e.g. by their convex hull, without cutting the specified curve. In the paper, an efficient and convergent recursive algorithm for refining an initial randomly generated set of clusters is proposed to tackle the problem of clustering convex polygonal obstacles in a 2D robot's scene. Simulation results show that the proposed algorithm acquires less number of clusters and computationally more efficient. In addition, the algorithm can be easily applied to dynamic environment based on the idea of seeds in clusters.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001