Voxel Map Based Collision Detection for Underwater Manipulators
Autor: | Satja Sivčev, Matija Rossi, Petar Trslic, Gerard Dooly, Daniel Toal, Edin Omerdic |
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Rok vydání: | 2018 |
Předmět: |
0209 industrial biotechnology
Collision avoidance (spacecraft) Computer science business.industry 02 engineering and technology Solid modeling Workspace Remotely operated underwater vehicle Computer Science::Robotics 020901 industrial engineering & automation Control system 0202 electrical engineering electronic engineering information engineering A priori and a posteriori 020201 artificial intelligence & image processing Collision detection Computer vision Artificial intelligence Underwater business |
Zdroj: | OCEANS 2018 MTS/IEEE Charleston. |
DOI: | 10.1109/oceans.2018.8604574 |
Popis: | This paper presents a real-time collision detection algorithm for underwater robotic manipulation. It is capable of detecting collisions between multiple manipulators and between manipulators and obstacles in the workspace. Assuming operations are typically carried out on artificial structures with a known geometry, it is possible to model the environment from a priori known CAD models. The position of objects in the workspace is tracked using a vision based approach that relies on fiducial marker detection. The proposed collision detection method is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. |
Databáze: | OpenAIRE |
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