Paper Info
Title
Perceiving guaranteed continuously collision-free robot trajectories in an unknown and unpredictable environment
Abstract
This paper addresses continuous collision-checking of a high-DOF robot trajectory in a completely unknown and unpredictable environment (i.e., obstacles are unknown and their motions are also unknown). In [1], the authors introduced how to discover, if a robot at configuration q at a future time t is guaranteed collision-free or not using the novel concept of the dynamic envelope and atomic obstacles based on sensing in such an unknown and unpredictable environment. In this paper, we further show that if a point (q, t) in the robot's configuration-time space (CT-space) is discovered collision-free, a neighborhood (CT-region) of (q, t) is also guaranteed collision-free. Based on that, given a continuous robot trajectory, we present a method to compute a set of discrete CT-points such that, if these points are discovered to be guaranteed collision-free, their associated collision-free neighborhood CT-regions contains the continuous trajectory, i.e., the trajectory is guaranteed continuously collision-free.
Year
DOI
Venue
2009
10.1109/IROS.2009.5353962
IROS
Keywords
Field
DocType
continuous robot trajectory,associated collision-free neighborhood ct-regions,continuous trajectory,configuration-time space,continuous collision-checking,unpredictable environment,discrete ct-points,high-dof robot trajectory,collision-free robot trajectory,configuration q,atomic obstacle,geometry,trajectory,data mining,mobile robots
Robot control,Computer vision,Robot calibration,Computer science,Collision free,Robot kinematics,Control engineering,Artificial intelligence,Robot,Mobile robot,Trajectory,Articulated robot
Conference
Citations 
PageRank 
References 
3
0.43
10
Authors
2
Name
Order
Citations
PageRank
Rayomand Vatcha1212.52
Jing Xiao2453.74