Geometric modelling, collision detection, collision avoidance and path planning based on the Hough Transform
Enrique J. Bernabeu · AIP conference proceedings · 2000
This paper presents a new method based on the application of the Hough Transform for solving the robot motion problem and their intermediate steps: geometric modelling and collision detection. In terms of modelling, given a set of points, which is the representation of a given object, the maximum inner and the minimum outer spherically-extended polytopes (s-tope) are automatically generated. Collision detection is based on the computation of the translational penetration distance. Such a distance also allows to compute an intermediate point when collision avoidance is required. The set of intermediate points describes a solution to the path-planning problem. This new approach introduces an important decrease in the computational time required for robot motion planning.