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Article: Continuous collision detection for two moving elliptic disks

TitleContinuous collision detection for two moving elliptic disks
Authors
KeywordsCillision detection
Ellipses
Elliptic disks
Interference analysis
Rational motion
Issue Date2006
PublisherIEEE.
Citation
IEEE Transactions On Robotics, 2006, v. 22 n. 2, p. 213-224 How to Cite?
AbstractCollision detection and avoidance are important in robotics. Compared with commonly used circular disks, elliptic disks provide a more compact shape representation for robots or other vehicles confined to move in the plane. Furthermore, elliptic disks allow a simpler analytic representation than rectangular boxes, which makes it easier to perform continuous collision detection (CCD). We shall present a fast and accurate method for CCD between two moving elliptic disks, which avoids any need to sample the time domain of the motion, thus avoiding the possibility of missing collisions between time samples. Based on some new algebraic conditions on the separation of two ellipses, we reduce collision detection for two moving ellipses to the problem of detecting real roots of a univariate equation, which is the discriminant of the characteristic polynomial of the two ellipses. Several techniques are investigated for robust and accurate processing of this univariate equation for two classes of commonly used motions: planar cycloidal motions and planar rational motions. Experimental results demonstrate the efficiency, accuracy, and robustness of our method. © 2006 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/47091
ISSN
2015 Impact Factor: 2.028
2015 SCImago Journal Rankings: 2.884
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorChoi, YKen_HK
dc.contributor.authorWang, Wen_HK
dc.contributor.authorLiu, Yen_HK
dc.contributor.authorKim, MSen_HK
dc.date.accessioned2007-10-30T07:06:55Z-
dc.date.available2007-10-30T07:06:55Z-
dc.date.issued2006en_HK
dc.identifier.citationIEEE Transactions On Robotics, 2006, v. 22 n. 2, p. 213-224en_HK
dc.identifier.issn1552-3098en_HK
dc.identifier.urihttp://hdl.handle.net/10722/47091-
dc.description.abstractCollision detection and avoidance are important in robotics. Compared with commonly used circular disks, elliptic disks provide a more compact shape representation for robots or other vehicles confined to move in the plane. Furthermore, elliptic disks allow a simpler analytic representation than rectangular boxes, which makes it easier to perform continuous collision detection (CCD). We shall present a fast and accurate method for CCD between two moving elliptic disks, which avoids any need to sample the time domain of the motion, thus avoiding the possibility of missing collisions between time samples. Based on some new algebraic conditions on the separation of two ellipses, we reduce collision detection for two moving ellipses to the problem of detecting real roots of a univariate equation, which is the discriminant of the characteristic polynomial of the two ellipses. Several techniques are investigated for robust and accurate processing of this univariate equation for two classes of commonly used motions: planar cycloidal motions and planar rational motions. Experimental results demonstrate the efficiency, accuracy, and robustness of our method. © 2006 IEEE.en_HK
dc.format.extent1033380 bytes-
dc.format.extent3373 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.relation.ispartofIEEE Transactions on Roboticsen_HK
dc.rights©2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectCillision detectionen_HK
dc.subjectEllipsesen_HK
dc.subjectElliptic disksen_HK
dc.subjectInterference analysisen_HK
dc.subjectRational motionen_HK
dc.titleContinuous collision detection for two moving elliptic disksen_HK
dc.typeArticleen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1552-3098&volume=22&issue=2&spage=213&epage=224&date=2006&atitle=Continuous+Collision+Detection+for+Two+Moving+Elliptic+Disksen_HK
dc.identifier.emailChoi, YK:ykchoi@cs.hku.hken_HK
dc.identifier.emailWang, W:wenping@cs.hku.hken_HK
dc.identifier.authorityChoi, YK=rp00106en_HK
dc.identifier.authorityWang, W=rp00186en_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/TRO.2005.862479en_HK
dc.identifier.scopuseid_2-s2.0-33645845415en_HK
dc.identifier.hkuros122395-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-33645845415&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume22en_HK
dc.identifier.issue2en_HK
dc.identifier.spage213en_HK
dc.identifier.epage224en_HK
dc.identifier.isiWOS:000236776800001-
dc.publisher.placeUnited Statesen_HK
dc.identifier.scopusauthoridChoi, YK=7404777348en_HK
dc.identifier.scopusauthoridWang, W=35147101600en_HK
dc.identifier.scopusauthoridLiu, Y=27172089200en_HK
dc.identifier.scopusauthoridKim, MS=34975058900en_HK

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