1 February 1992 New hardware collision checker for robot path planning
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Abstract
A new set of collision checking and obstacle avoidance algorithms has been developed and implemented in both hardware and software. The method allows for unlimited vector checks against an unlimited set of objects. Dependent upon the application, the single card hardware performance ranges from 1 million line sorts per second to hundreds of millions. Therefore, due to the high algorithm speed, the overall system performance only becomes limited by the choice of processor and the speed of the interface. The hardware is presently configured to process large blocks of objects and data (8K) at a sorting rate of one point against eight objects at a rate of 200 million points per second. The trade-off between choice of algorithm and performance is discussed.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Vibeke Libby, Vibeke Libby, } "New hardware collision checker for robot path planning", Proc. SPIE 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques, (1 February 1992); doi: 10.1117/12.57100; https://doi.org/10.1117/12.57100
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