Collision computation of moving bodies
type: Item
instance of: scholarly article
title: Collision computation of moving bodies
zbMATH Open document ID: 0936.93038
DOI: 10.1016/S0377-2217(98)90356-3
author: Shokri Z. Selim
author: H. A. Al-Mohamad
published in: European Journal of Operational Research
publication date: 1999-11-29T00:00:00Z
review text: The collision problem is a topic which focuses the attention of all the scientists involved in robotics studies. Just because the past methods can find the collision between two moving objects but they have difficulties in extending their application to collision of several moving bodies, the authors developed an explicit mathematical representation of \(n\)-dimensional bodies moving in translation along general trajectories. The paper is organized as follows: Section 2 gives an explicit algebraic representation (which applies to objects moving along arbitrary trajectories) of a translating object on \(\mathbb{R}^n\). Several cases of linear and piecewise linear trajectories are also considered. The special case of translating polytopes is described in the next section. This is followed by algorithms for the collision problem of moving bodies and by an integer program for the case of several moving bodies. Finally, a simulation study to compare the proposed integer programming model and the current approach is presented.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70B15
zbMATH DE Number: 1358219
zbMATH Keywords: linear programming
zbMATH Keywords: multi-body collision
zbMATH Keywords: robotics
zbMATH Keywords: integer programming
MaRDI profile type: Publication
cites work: On using LP to collision detection between a manipulator arm and surrounding obstacles
full work available at URL: s0377-2217(98)90356-3
OpenAlex ID: W2032364019
description: scientific article; zbMATH DE number 1358219