Method and apparatus for controlling the movement of a guided object

• US 4,922,430 A
• Filed: 10/30/1987
• Issued: 05/01/1990
• Est. Priority Date: 10/30/1987
• Status: Expired due to Fees

• Current Assignee: US Philips Corporation (Koninklijke Philips N.V.)
• Original Assignee: US Philips Corporation (Koninklijke Philips N.V.)
• Inventors: Wavish, Peter R.
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): TRANS, VINCENT N
• Application Number:
  US07/115,476
• Time in Patent Office: 914 Days
• Field of Search: 364/461, 364/559, 364/513, 901/10, 901/16, 901/17, 901/18
• US Class Current: 700/255
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones

Abstract

A method is provided for controlling the movement of an object 1, 61, in an environment 64. The method involves making predictions of collisions, given the outlines of the object and the environment, so that avoiding action can be taken. The object and environment are modelled as clusters of interpenetrating spherical bubbles, the model comprising the relative positions of the centers 6, 7, 8, 9, and 21 to 28 inclusive of the bubbles and their respective radii. The model simplifies the prediction of the point of collision of two such modelled objects by examining the collisions between bubbles only. An early, safe, approximate prediction of the collision can be obtained using Newton'"'"'s approximation.

Claims

1. A method for controlling a movement of a first object with respect to a second object, said method comprising the steps of:

(a) first representing at least part of a geometrical outline of said second object by a first set of interpenetrating spherical bubbles that each contain a fraction of said part and which together contain all of said part;

(b) second representing said first set by a second set of spherical bubbles that contains the bubbles of said first set and have larger diameters than the bubbles of said first set, so that said second set contains less bubbles than said first set; and

(c) calculating the movement of said first object for predicting an impending collision with said second object comprising;

(i) first determining whether there is an impending penetration of any bubble of said second set; and

(ii) in case of a positive outcome of said first determining step, second determining whether there is a further impending penetration of any bubble of said first set,

whereby a number of calculations is reduced in case of a negative outcome of said second determining step.

2. The method of claim 1 comprising the further step of

(a) third representing at least part of a geometrical outline of said first object by at least one spherical bubble.

4. The method of claim 1 or 3 wherein

(a) said second representing step comprises representing said second set by a hierarchy of levels of guard bubbles including a first level of guard bubbles which contain the bubbles of the first set and have larger diameters than the bubbles of the first set and at least one second level of at least one guard bubble that contains the guard bubbles of said first level, each of the at least one guard bubble of said at least one second level having a larger diameter than the guard bubbles of said first level, so that each guard bubble of the second level encloses a selection of the guard bubbles of a respective adjacent inner level, and so that all the guard bubbles of any given level of the second level contain, between them all the guard bubbles of the respective adjacent inner level and so that each guard bubble of the respective adjacent inner level is assigned to only one guard bubble of the given level, so that at each level of said hierarchy there are less bubbles than at a next level of said hierarchy;

and

(b) said first determining step comprises;

(i) first deciding whether there is an impending penetration of an outermost level of said hierarchy;

(ii) upon a positive result, second deciding whether there is a further impending penetration of any bubble of the next level of said hierarchy; and

(iii) repeating said second deciding step, until there is no impending penetration or until the first set is reached,

whereby a number of calculations is reduced upon a negative result of said first or second deciding step.

6. A method as claimed in claim 2 or 5, wherein each determining step comprises:

(a) calculating a trajectory of a first bubble representing the first object, relative to a second bubble representing the second object, for a limited period of time as a straight line approximation at constant velocity,

(b) deriving an equation giving the square of the separation of the first and second bubbles as a function of time during the limited period, and

(c) calculating the time of a collision as an early approximate solution of the equation by applying Newton'"'"'s method of successive approximations.

7. A method as claimed in claim 6, wherein the time of a collision is calculated as the first approximate solution given by Newton'"'"'s method.

3. A method for controlling a movement of a first object with respect to a second object, said method comprising the steps of:

(a) first representing at least part of a geometrical outline of said first object by a first set of interpenetrating spherical bubbles that each contain a fraction of said part and which together contain all of said part;

(b) second representing said first set by a second set of spherical bubbles that contain the bubbles of said first set and have larger diameters than the bubbles of said first set, so that said second set contains less bubbles than said first set; and

(c) calculating the movement of said first object for predicting an impending collision with said second object comprising;

(i) first determining whether there is an impending penetration of any bubble of said second set; and

(ii) in case of a positive outcome of said first determining step, second determining whether there is a further impending penetration of any bubble of said first set,

whereby a number of calculations is reduced in case of a negative outcome of said second determining step.

5. The method of claim 3 comprising the further step of

(a) representing at least part of a geometrical outline of said second object by at least one spherical bubble.

8. Appparatus for controlling movement of a first object with respect to a second object said apparatus comprising

(a) means for guiding the first object relative to the second object;

(b) means for storing respective shape and size information for each of the first and second objects, said shape and size information including, for a respective at least one of said first and second objects;

(i) data defining a first set of interpenetrating spherical bubbles that each contain a fraction of a part of a geometrical outline of the respective at least one object, such that the spherical bubbles together contain all of said part;

(ii) data defining a second set of spherical bubbles that contain the bubbles of said first set and have larger diameters than the bubbles of said first set, so that said second set contains less bubbles than said first set; and

(c) means for calculating the movement of said first object for predicting an impending collision with said second object the calculating including;

(i) first determining whether there is an impending penetration of any bubble of said second set; and

(ii) in case of a positive outcome of said first determining step, second determining whether there is a further impending penetration of any bubble of said first set,

whereby a number of calculations is reduced in case of a negative outcome of said second determining step.

9. The apparatus of claim 8 wherein

(a) the second set includes a hierarchy of levels of guard bubbles including:

(i) a first level of guard bubbles that contain the bubbles of the first set and have larger diameters than the bubbles of the first set; and

(ii) at least one second level of at least one guard bubble that contains the guard bubbles of said first level and has a larger diameter than the guard bubbles of said first level, so that each guard bubble of the second level encloses a selection of the guard bubbles of a respective adjacent inner level, and so that all the guard bubbles of any given level of the second level contain, between them all the guard bubbles of the respective adjacent inner level, and so that each guard bubble of the respective adjacent inner level is assigned to only one guard bubble of the given level, so that at each level of said hierarchy there are less bubbles than at a next level of said hierarchy;

(b) said calculating means, as part of said first determining;

(i) first decides whether there is an impending penetration of an outermost level of said hierarchy;

(ii) upon a positive result, second decides whether there is a further impending penetration of any bubble of a next level of said hierarchy; and

(iii) repeats the second deciding, until there is no impending penetration or until the first set is reached,

whereby a number of calculations is reduced upon a negative result of said first or second deciding step.

10. The apparatus of claim 8 wherein

(a) said shape and size information includes, for each object, at least one respective spherical bubble;

and

(b) the calculating means, for each determining;

(i) calculates a trajectory of a first bubble representing the first object, relative to a second bubble representing the second object, for a limited period of time as a straight line approximation at constant velocity;

(ii) derives an equation giving the square of the separation of the first and second bubbles as a function of time during the limited period; and

(iii) calculates the time of a collision as an early approximate solution of the equation by applying Newton'"'"'s method of successive approximations.