REAL-TIME SELF COLLISION AND OBSTACLE AVOIDANCE USING WEIGHTING MATRIX
First Claim
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1. A method for avoiding collision of a body segment in an articulated system, the method comprising:
- determining a collision function for avoiding collision between the body segment and other structures in the articulated system;
measuring a distance between the body segment and a first structure, the first structure being one of the other structures;
generating a weighting matrix based on the collision function and the distance for avoiding collision between the body segment and the first structure;
determining a redirected motion that prevents the body segment from colliding with the first structure based on the weighting matrix; and
redirecting the body segment based on the redirected motion to avoid colliding with the first structure.
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Abstract
A system, method, and computer program product for avoiding collision of a body segment with other structures in an articulated system are described. According to one aspect, a collision function is determined for avoiding such collision. A distance between the body segment and one such structure is measured. A weighting matrix is generated based on the collision function and the distance, and used to determine a redirected motion for the body segment. The body segment is redirected based on the redirected motion to avoid colliding with the structure.
67 Citations
20 Claims
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1. A method for avoiding collision of a body segment in an articulated system, the method comprising:
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determining a collision function for avoiding collision between the body segment and other structures in the articulated system; measuring a distance between the body segment and a first structure, the first structure being one of the other structures; generating a weighting matrix based on the collision function and the distance for avoiding collision between the body segment and the first structure; determining a redirected motion that prevents the body segment from colliding with the first structure based on the weighting matrix; and redirecting the body segment based on the redirected motion to avoid colliding with the first structure. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A computer program product for avoiding collision of a body segment in an articulated system, the computer program product comprising a computer-readable storage medium containing executable computer program code for performing a method comprising:
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determining a collision function for avoiding collision between the body segment and other structures in the articulated system; measuring a distance between the body segment and a first structure, the first structure being one of the other structures; generating a weighting matrix based on the collision function and the distance for avoiding collision between the body segment and the first structure; determining a redirected motion that prevents the body segment from colliding with the first structure based on the weighting matrix; and redirecting the body segment based on the redirected motion to avoid colliding with the first structure. - View Dependent Claims (14, 15, 16)
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17. A system for avoiding collision of a body segment in an articulated system, the system comprising:
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a computer processor for executing executable computer program code; a computer-readable storage medium containing the executable computer program code for performing a method comprising; determining a collision function for avoiding collision between the body segment and other structures in the articulated system; measuring a distance between the body segment and a first structure, the first structure being one of the other structures; generating a weighting matrix based on the collision function and the distance for avoiding collision between the body segment and the first structure; determining a redirected motion that prevents the body segment from colliding with the first structure based on the weighting matrix; and redirecting the body segment based on the redirected motion to avoid colliding with the first structure. - View Dependent Claims (18, 19, 20)
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Specification