A method to produce minimal real time geometric representations of moving obstacles

David Sanders, Qian Wang, Nils Bausch, Ya Huang, Sergey Andreyevich Khaustov, Ivan Popov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Real time modelling methods are compared for use with a robot manufacturing work-cell and a simple image processing system. The static parts of a robotic manufacturing work-cell are modelled as a number of solid polyhedra. The robot is modelled as a number of connected spheres and cylinders. The static model is renewed when an object enters or leaves the static work-place. Simple polyhedra, spheres and similar 2-D slices in actuator space are compared with other models as representations of objects move in and out of the reach of the robot. Models are compared for their efficiency in accessing data and ability to update as information about moving objects changes. Geometric models of the robot and the robot work-cell are loaded into a path planner to compare the models for efficiency on planning paths around moving objects. Some preliminary results are presented.
Original languageEnglish
Title of host publicationIntelligent Systems and Applications
Subtitle of host publicationProceedings of the 2018 Intelligent Systems Conference (IntelliSys) Volume 1
EditorsKohei Arai, Supriya Kapoor, Rahul Bhatia
Number of pages12
ISBN (Electronic)978-3-030-01054-6
ISBN (Print)978-3-030-01053-9
Publication statusPublished - Jan 2019
EventIntelliSys 2018 - London, United Kingdom
Duration: 6 Sept 20187 Sept 2018

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365


ConferenceIntelliSys 2018
Country/TerritoryUnited Kingdom


  • Robot
  • path
  • obstacle
  • 2-D Slice


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