Share Email Print

Proceedings Paper

Visual robot guidance in time-varying environment
Author(s): Mehmet Celenk; Wei Sun
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

This paper describes a collision detection and path planning algorithm in 3D time-varying environment using octree data structure. The problem is decomposed into two operation steps. First, all the moving obstacles are removed from the environment so that a collision- free path is planned in the 3D stationary environment. Second, all the moving obstacles are returned to the workspace and the 3D volume swept by their motion is represented in the form of an octree. In case of a collision, the colliding obstacle is placed at the collision point as a new stationary pseudo-obstacle and a new path is planned from the last to the final position of the robot.

Paper Details

Date Published: 1 January 1990
PDF: 12 pages
Proc. SPIE 1293, Applications of Artificial Intelligence VIII, (1 January 1990); doi: 10.1117/12.21093
Show Author Affiliations
Mehmet Celenk, Ohio Univ. (United States)
Wei Sun, Northeastern Univ. (United States)

Published in SPIE Proceedings Vol. 1293:
Applications of Artificial Intelligence VIII
Mohan M. Trivedi, Editor(s)

© SPIE. Terms of Use
Back to Top