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

doi:10.1007/978-3-030-01054-6_61

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 proceeding › Conference contribution

204 Downloads (Pure)

Abstract

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 language	English
Title of host publication	Intelligent Systems and Applications
Subtitle of host publication	Proceedings of the 2018 Intelligent Systems Conference (IntelliSys) Volume 1
Editors	Kohei Arai, Supriya Kapoor, Rahul Bhatia
Publisher	Springer
Pages	881-892
Number of pages	12
ISBN (Electronic)	978-3-030-01054-6
ISBN (Print)	978-3-030-01053-9
DOIs	https://doi.org/10.1007/978-3-030-01054-6_61
Publication status	Published - Jan 2019
Event	IntelliSys 2018 - London, United Kingdom Duration: 6 Sept 2018 → 7 Sept 2018

Publication series

Name	Advances in Intelligent Systems and Computing
Publisher	Springer
Volume	868
ISSN (Print)	2194-5357
ISSN (Electronic)	2194-5365

Conference

Conference	IntelliSys 2018
Country/Territory	United Kingdom
City	London
Period	6/09/18 → 7/09/18

Keywords

Robot
path
obstacle
2-D Slice

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-3-030-01054-6_61

Intellisys - 2-D Slices Conf Paper [v2]
The final authenticated version is available online at: http://dx.doi.org/10.1007/978-3-030-01054-6_61.
Accepted author manuscript (Post-print), 268 KB

http://saiconference.com/Conferences/IntelliSys2018

Cite this

Sanders, D., Wang, Q., Bausch, N., Huang, Y., Khaustov, S. A., & Popov, I. (2019). A method to produce minimal real time geometric representations of moving obstacles. In K. Arai, S. Kapoor, & R. Bhatia (Eds.), Intelligent Systems and Applications: Proceedings of the 2018 Intelligent Systems Conference (IntelliSys) Volume 1 (pp. 881-892). (Advances in Intelligent Systems and Computing; Vol. 868). Springer. https://doi.org/10.1007/978-3-030-01054-6_61

Sanders, David ; Wang, Qian ; Bausch, Nils et al. / A method to produce minimal real time geometric representations of moving obstacles. Intelligent Systems and Applications: Proceedings of the 2018 Intelligent Systems Conference (IntelliSys) Volume 1. editor / Kohei Arai ; Supriya Kapoor ; Rahul Bhatia. Springer, 2019. pp. 881-892 (Advances in Intelligent Systems and Computing).

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title = "A method to produce minimal real time geometric representations of moving obstacles",

abstract = "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.",

keywords = "Robot, path, obstacle, 2-D Slice",

author = "David Sanders and Qian Wang and Nils Bausch and Ya Huang and Khaustov, \{Sergey Andreyevich\} and Ivan Popov",

year = "2019",

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isbn = "978-3-030-01053-9",

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}

Sanders, D, Wang, Q, Bausch, N, Huang, Y, Khaustov, SA & Popov, I 2019, A method to produce minimal real time geometric representations of moving obstacles. in K Arai, S Kapoor & R Bhatia (eds), Intelligent Systems and Applications: Proceedings of the 2018 Intelligent Systems Conference (IntelliSys) Volume 1. Advances in Intelligent Systems and Computing, vol. 868, Springer, pp. 881-892, IntelliSys 2018, London, United Kingdom, 6/09/18. https://doi.org/10.1007/978-3-030-01054-6_61

A method to produce minimal real time geometric representations of moving obstacles. / Sanders, David; Wang, Qian; Bausch, Nils et al.
Intelligent Systems and Applications: Proceedings of the 2018 Intelligent Systems Conference (IntelliSys) Volume 1. ed. / Kohei Arai; Supriya Kapoor; Rahul Bhatia. Springer, 2019. p. 881-892 (Advances in Intelligent Systems and Computing; Vol. 868).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Bausch, Nils

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AU - Khaustov, Sergey Andreyevich

AU - Popov, Ivan

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N2 - 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.

AB - 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.

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EP - 892

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ER -

Sanders D, Wang Q, Bausch N, Huang Y, Khaustov SA, Popov I. A method to produce minimal real time geometric representations of moving obstacles. In Arai K, Kapoor S, Bhatia R, editors, Intelligent Systems and Applications: Proceedings of the 2018 Intelligent Systems Conference (IntelliSys) Volume 1. Springer. 2019. p. 881-892. (Advances in Intelligent Systems and Computing). Epub 2018 Nov 9. doi: 10.1007/978-3-030-01054-6_61

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

Abstract

Publication series

Conference

Keywords

UN SDGs

Access to Document

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Cite this