Two Models for Robot Collision Detection : Complexity Comparison
Mladen Crneković, Željko Šitum, Danko Brezak · 2002
To find out if a robot is in collision with its environment, it is necessary to build a geometry model. The most common basic element for the geometry model is a prism and a sphere ; therefore a robot and obstacles are modeled as a set of basic elements. According to the required mathematical operation, it is important to know which model is better. Although a sphere model seems to be better because it is mathematically simpler to describe it, a prism is much more similar to elements of our technical systems. Equations for a sphere model are much simpler than those for a prism model, but the sphere model requires more basic elements. This article quantifies the required mathematical operation for two models, to compute if a robot is in collision.