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Collision Cones for Quadric Surfaces

Chakravarthy, Animesh and Ghose, Debasish (2011) Collision Cones for Quadric Surfaces. In: IEEE Transactions on Robotics, 27 (6). pp. 1159-1166.

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The problem of collision prediction in dynamic environments appears in several diverse fields, which include robotics, air vehicles, underwater vehicles, and computer animation. In this paper, collision prediction of objects that move in 3-D environments is considered. Most work on collision prediction assumes objects to be modeled as spheres. However, there are many instances of object shapes where an ellipsoidal or a hyperboloid-like bounding box would be more appropriate. In this paper, a collision cone approach is used to determine collision between objects whose shapes can be modeled by general quadric surfaces. Exact collision conditions for such quadric surfaces are obtained in the form of analytical expressions in the relative velocity space. For objects of arbitrary shapes, exact representations of planar sections of the 3-D collision cone are obtained.

Item Type: Journal Article
Publication: IEEE Transactions on Robotics
Publisher: IEEE
Additional Information: Copyright 2011 IEEE. Personal use of this material is permitted.However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Keywords: Collision cone;dynamic environments;obstacle avoidance;path planning
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 04 Jan 2012 07:01
Last Modified: 04 Jan 2012 07:01
URI: http://eprints.iisc.ac.in/id/eprint/42972

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