Real time collision detection

Details Real time collision detection Real time collision detection

G - Physics

08

G

G08G 9/02 (2006.01) B25J 9/16 (2006.01) B25J 19/06 (2006.01) G06F 15/50 (1990.01)

Patent

CA 2120534

A method is provided for detecting a collision between a robot and one or more obstacles before it occurs. The robot is modeled by spheres in a voxelized workspace. Each voxel within the workspace is assigned a value which corresponds to its distance from the closest obstacle. A collision is determined to be imminent if the voxel value at the centre of a sphere is less than the radius of the sphere in voxels.

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