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

J. Xu; D. K. Liu; G. Fang

doi:10.1007/978-3-540-73374-4_8

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

J. Xu
, D. K. Liu
, G. Fang

School of Engineering, Design & Built Environment

University of Technology Sydney

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

11 Citations (Scopus)

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.

Original language	English
Title of host publication	Robotic Welding, Intelligence and Automation
Editors	Tzyh-Jong Tarn, Shan-Ben Chen, Changjiu Zhou
Pages	71-82
Number of pages	12
DOIs	https://doi.org/10.1007/978-3-540-73374-4_8
Publication status	Published - 2007

Publication series

Name	Lecture Notes in Control and Information Sciences
Volume	362
ISSN (Print)	0170-8643

UN SDGs

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

SDG 9 Industry, Innovation, and Infrastructure

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10.1007/978-3-540-73374-4_8

Cite this

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title = "An efficient method for collision detection and distance queries in a robotic bridge maintenance system",

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.",

author = "J. Xu and Liu, \{D. K.\} and G. Fang",

year = "2007",

doi = "10.1007/978-3-540-73374-4\_8",

language = "English",

isbn = "3540733736",

series = "Lecture Notes in Control and Information Sciences",

pages = "71--82",

editor = "Tzyh-Jong Tarn and Shan-Ben Chen and Changjiu Zhou",

booktitle = "Robotic Welding, Intelligence and Automation",

}

An efficient method for collision detection and distance queries in a robotic bridge maintenance system. / Xu, J.; Liu, D. K.; Fang, G.
Robotic Welding, Intelligence and Automation. ed. / Tzyh-Jong Tarn; Shan-Ben Chen; Changjiu Zhou. 2007. p. 71-82 (Lecture Notes in Control and Information Sciences; Vol. 362).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

TY - GEN

T1 - An efficient method for collision detection and distance queries in a robotic bridge maintenance system

AU - Xu, J.

AU - Liu, D. K.

AU - Fang, G.

PY - 2007

Y1 - 2007

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/34548764980

U2 - 10.1007/978-3-540-73374-4_8

DO - 10.1007/978-3-540-73374-4_8

M3 - Conference Paper

AN - SCOPUS:34548764980

SN - 3540733736

SN - 9783540733737

T3 - Lecture Notes in Control and Information Sciences

SP - 71

EP - 82

BT - Robotic Welding, Intelligence and Automation

A2 - Tarn, Tzyh-Jong

A2 - Chen, Shan-Ben

A2 - Zhou, Changjiu

ER -

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

Abstract

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UN SDGs

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