Minimal consistent set (MCS) identification for optimal nearest neighbor decision systems design
نویسنده
چکیده
A simple time delay method for avoiding collisions betweentwo general robot arms is proposed. Links of the robots are approximatedby polyhedra and the danger of collision between two robots is expressedby distance functions defined between the robots. The collision mapscheme, which can describe collisions between two robots effectively, isadopted. The minimum delay time valueneeded for collision avoidanceis obtained bya simple procedure of following the boundary contour ofcollision region on collision map. To demonstrate the effectiveness of theproposed time delay method, a computer simulation study is shown wherea collision is likely to occur realistically.
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عنوان ژورنال:
- IEEE Trans. Systems, Man, and Cybernetics
دوره 24 شماره
صفحات -
تاریخ انتشار 1994