论文标题
在动态环境中避免3维对象的碰撞
Collision Avoidance of 3-Dimensional Objects in Dynamic Environments
论文作者
论文摘要
在确定机器人轨迹的同时，在移动对象之间实现避免碰撞是一个重要目标。在执行碰撞避免操作时，对象的相对形状起着重要作用。文献在很大程度上将物体的形状建模为球体，这可以使避免操作非常保守，尤其是当对象具有细长形状和/或非凸面时。在本文中，我们使用椭圆形和一片分布/两张双层的倍曲底的合适组合对象对物体的形状进行建模，并采用碰撞锥方法来避免碰撞。我们提出了一种构造3-D碰撞锥的方法，并提供了仿真结果，证明了避免碰撞定律的工作。
Achieving collision avoidance between moving objects is an important objective while determining robot trajectories. In performing collision avoidance maneuvers, the relative shapes of the objects play an important role. The literature largely models the shapes of the objects as spheres, and this can make the avoidance maneuvers very conservative, especially when the objects are of elongated shape and/or non-convex. In this paper, we model the shapes of the objects using suitable combinations of ellipsoids and one-sheeted/two-sheeted hyperboloids, and employ a collision cone approach to achieve collision avoidance. We present a method to construct the 3-D collision cone, and present simulation results demonstrating the working of the collision avoidance laws.
