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Title: | Efficient Calculation of Minimum Distance Between Capsules and Its Use in Robotics | Authors: | Safeea, Mohammad Neto, Pedro Béarée, Richard |
Keywords: | Minimum distance; line-segments; capsules; robotics | Issue Date: | 2019 | Publisher: | IEEE | Project: | This work was supported in part by the European Union's Horizon 2020 Research and Innovation Programme through the ColRobot project under Grant 688807, in part by the Portugal 2020 project DM4Manufacturing funded by UE/FEDER through the program COMPETE2020 under Grant POCI-01-0145-FEDER-016418, in part by the Portuguese Foundation for Science and Technology under Grant SFRH/BD/131091/2017, and in part by the Project COBOTIS under Grant PTDC/EME-EME/32595/2017. | Serial title, monograph or event: | IEEE Access | Volume: | 7 | Abstract: | The problem of minimum distance calculation between line-segments/capsules, in 3D space, is an important subject in many engineering applications, spanning CAD design, computer graphics, simulation, and robotics. In the latter, the human robot minimum distance is the main input for collision avoidance/detection algorithms to measure collision imminence. Capsules can be used to represent humans and objects, including robots, in a given dynamic environment. In this scenario, it is important to calculate the minimum distance between capsules ef ciently, especially for scenes (situations) that include a high number of capsules. This paper investigates the utilization of QR factorization for performing ef cient minimum distance calculation between capsules. The problem is reformulated as a bounded variable optimization in which an af ne transformation, deduced from QR factorization, is applied on the region of feasible solutions. A geometrical approach is proposed to calculate the solution, which is achieved by computing the point closest to the origin from the transferred region of feasible solutions. This paper is concluded with numerical tests, showing that the proposed method compares favorably with the most ef cient method reported in the literature. | URI: | https://hdl.handle.net/10316/107015 | ISSN: | 2169-3536 | DOI: | 10.1109/ACCESS.2018.2889311 | Rights: | openAccess |
Appears in Collections: | FCTUC Eng.Mecânica - Artigos em Revistas Internacionais |
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