Abstract
The minimum separation distance between two objects (manoeuvring object and obstacle) is crucial in the application of potential field algorithms to autonomous robot motion control. The distance calculation is essential in both goal potential and obstacle potential estimation. The minimum distance between a 3D point and a superquadric surface is computationally very expensive to obtain. Consequently, many alternative, approximate definitions were investigated as an alternative. In this paper, the separation distance between two manoeuvring 3D objects will be discussed. Unlike previous work, position, orientation, and body dimensions will be taken into consideration for the distance calculation. Accurate distance calculation helps in decreasing the obstacle potential strength and providing a larger available free workspace. Consequently, the more accurate distance calculation available, the less manoeuvring is required.
| Original language | English |
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| Number of pages | 5 |
| Publication status | Published - 30 Aug 2006 |
| Event | International Control Conference 2006 - Glasgow, UK Duration: 30 Aug 2006 → 1 Sept 2006 http://ukacc.group.shef.ac.uk/Control_Conferences/Control2006/icc2006.htm |
Conference
| Conference | International Control Conference 2006 |
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| Abbreviated title | ICC2006 |
| City | Glasgow, UK |
| Period | 30/08/06 → 1/09/06 |
| Other | The Conference covers Methods, Technology, Applications and Education in Control Engineering. UKACC seeks to act as an effective link between the UK and the international control communities, and to provide a focus for International Federation of Automatic Control (IFAC) related activities. UKACC has three constituent members: The Institution of Engineering and Technology (IET), The Institute of Measurement and Control (IMC), and The Institution of Mechanical Engineers (IMechE). |
| Internet address |
Keywords
- superquadric
- quaternion
- motion planning
- robotics