| Summary: | 碩士 === 國立中正大學 === 電機工程學系 === 84 === In this thesis, a method based on the combination of Gaussian
distribution and superquadric modeling for collision-avoidance
control is proposed. In order to avoid collisions among
obstacles in path planning of a mobile robot, the defined
collisionprobability by Gaussian distribution and the searching
algorithm improved by the defined objective function have
extended the applications from 2-D to 3-D working space
progressively. To avoid collision between two general robot
manipulators, links of the robots are modeled with simple
superquadric ellipse in 2-D and ellipsoid in 3-D for simple
mathematical representation and geometric approximation. From
the simple modeling algorithm and the application of coordinate
transformation, a fast collision-detection algorithm is
introduced. Based on the algorithm, a method of controlling the
speed of one robot to avoid collision with the other one, which
is assumed to move at constant speed, has been applied gradually
from two-joint robots in 2-D to Motoman robots with 5 DOF in
3-D. In the process of searching the optimal resolution, the
collision probability defined by the combination of Gaussian
distribution and superquadric modeling plays a very significant
role.
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