Abstract
To solve the problem that manipulator may collide with the obstacles during the run-time in its work space, two technical measures are proposed in this paper: cylinder enveloping collision detection method and variable-step segment-searching method based on A * algorithm. Using former method, the problem of collision detecting can be transformed to detect the positions between two cylinders; while the problem of using traditional A * algorithm in path searching that lead to large searching data even infinite loop searching could be solved by using the variable-step segment-searching method. The effectiveness and feasibility of proposed methods are proved by simulation on three-dimension platform based on OpenGL and application to actual system.
Original language | English |
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Pages (from-to) | 1302-1306 |
Number of pages | 5 |
Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
Volume | 31 |
Issue number | 11 |
Publication status | Published - Nov 2011 |
Keywords
- A algorithm
- Collision detection
- Manipulator
- OpenGL
- Variable step and segments search method