An efficient method for collision detection and distance queries in a robotic bridge maintenance system

Xu, J; Liu, DK; Fang, G

An efficient method for collision detection and distance queries in a robotic bridge maintenance system

Xu, J Liu, DK

Fang, G

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Publication Type:: Chapter
Citation:: 2007, 362 pp. 71 - 82
Issue Date:: 2007-09-24

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Field	Value	Language
dc.contributor.author	Xu, J	en_US
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Fang, G	en_US
dc.date.issued	2007-09-24	en_US
dc.identifier.citation	2007, 362 pp. 71 - 82	en_US
dc.identifier.isbn	3540733736	en_US
dc.identifier.isbn	9783540733737	en_US
dc.identifier.uri	http://hdl.handle.net/10453/7884
dc.description.abstract	When applying autonomous industrial robotic systems in an unknown/partially known or cluttered environment, mapping and representation of the environment as well as collision detection becomes crucial. Existing techniques in these areas are generally complex and computationally expensive to implement. In this paper an efficient sphere representation method is introduced for environment representation, collision detection and distance queries. In particular, this method is designed for the application in an autonomous bridge maintenance system. Simulation results show that this method is effective in environment representation and collision detection. Furthermore, the proposed method is also computationally efficient for real-time implementation. © 2007 Springer-Verlag Berlin Heidelberg.	en_US
dc.relation.isbasedon	10.1007/978-3-540-73374-4_8	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	An efficient method for collision detection and distance queries in a robotic bridge maintenance system	en_US
dc.type	Chapter
utslib.citation.volume	362	en_US
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
utslib.for	090602 Control Systems, Robotics and Automation	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	362	en_US

Abstract:

When applying autonomous industrial robotic systems in an unknown/partially known or cluttered environment, mapping and representation of the environment as well as collision detection becomes crucial. Existing techniques in these areas are generally complex and computationally expensive to implement. In this paper an efficient sphere representation method is introduced for environment representation, collision detection and distance queries. In particular, this method is designed for the application in an autonomous bridge maintenance system. Simulation results show that this method is effective in environment representation and collision detection. Furthermore, the proposed method is also computationally efficient for real-time implementation. © 2007 Springer-Verlag Berlin Heidelberg.

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http://hdl.handle.net/10453/7884