English

应用科学学报 ›› 1998, Vol. 16 ›› Issue (1): 106-111.

• 论文 • 上一篇    下一篇

机器人无碰撞路径规划中的碰撞检测

朱向阳1, 钟秉林1, 熊有伦2   

  1. 1. 东南大学;
    2. 华中理工大学
  • 收稿日期:1996-06-04 修回日期:1996-09-17 出版日期:1998-03-31 发布日期:1998-03-31
  • 作者简介:朱向阳:副教授,东南大学机械工程系,南京 210096
  • 基金资助:
    国家自然科学基金

Collision Detection Between Convex Polyhedra:a Foundation for Collision -Free Path Planning

ZHU XIANGYANG1, ZHONG BINGLIN1, XIONG YOULUN2   

  1. 1. Southeast University, Nanjing 210096;
    2. Huazhong University of Science and Technology, Wuhan 430074
  • Received:1996-06-04 Revised:1996-09-17 Online:1998-03-31 Published:1998-03-31

PDF

153

被引次数

12

摘要： 该文针对机器人无碰撞路径规划中的碰撞检测问题,研究三维空间中有界闭凸多面体间的两种距离函数——L1距离和L∞距离.文中分析和证明了L1距离和L∞距离的拓扑性质、Lipschitz性及与Euclidean距离的等价性等若干性质,并给出了L1距离和L∞距离的线性规划表示及其计算方法.

关键词: 无碰撞路径规划, 凸多面体, 机器人, L1(L∞)距离

Abstract: This paper deals with the collision detection problem by investigating the distance function between 3-D convex polyhedra in the sense of L1 metric and L∞ metric. The characteristics of both the L1 distance and L∞ distance, such as their topological property, Lipschitz continuity, equivalence to the Euclidean distance, etc, are investigated. The linear programming based approaches for the evaluating of L1 distance and L∞ distance are also proposed. The results of this paper form a basis of collision free path planning for robot manipulators.

Key words: collision-free path planning, convex polyhedra, L1(L∞) distance, robot