Real-time self collision and obstacle avoidance using weighting matrix
AssigneeHonda Motor Co., Ltd.
InventorBehzad Dariush
Life of this patent
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Abstract
A system, method, and computer program product for avoiding collision of a body segment with other structures in an articulated system are described. According to one aspect, a collision function is determined for avoiding such collision. A distance between the body segment and one such structure is measured. A weighting matrix is generated based on the collision function and the distance, and used to determine a redirected motion for the body segment. The body segment is redirected based on the redirected motion to avoid colliding with the structure.
Claims19
A method for avoiding collision of a body segment in an articulated system, the method comprising:
- determining a collision function for avoiding collision between the body segment and other structures in the articulated system;
- measuring a distance between the body segment and a first structure, the first structure being one of the other structures;
- determining a joint limit function for avoiding self collision between the body segment and the other structures in the articulated system;
- measuring a joint vector between the body segment and a second structure, the second structure being one of the other structures;
- generating, using a processor, a collision gradient weighting matrix based on the collision function and the measured distance;
- generating, using a processor, a joint limit gradient weighting matrix based on the joint limit function and the measured joint vector;
- generating a combined weighting matrix based on the collision gradient weighting matrix and the joint limit gradient weighting matrix;
- determining a redirected motion that prevents the body segment from colliding with the first structure based on the combined weighting matrix;
- and
- redirecting the body segment based on the redirected motion to avoid colliding with the first structure.
A computer program product for avoiding collision of a body segment in an articulated system, the computer program product configured to be stored in a non-transitory computer-readable storage medium, the computer program product comprising executable computer program code for performing a method comprising:
- determining a collision function for avoiding collision between the body segment and other structures in the articulated system;
- measuring a distance between the body segment and a first structure, the first structure being one of the other structures;
- determining a joint limit function for avoiding self collision between the body segment and the other structures in the articulated system;
- measuring a joint vector between the body segment and a second structure, the second structure being one of the other structures;
- generating, using a processor, a collision gradient weighting matrix based on the collision function and the measured distance;
- generating, using a processor, a joint limit gradient weighting matrix based on the joint limit function and the measured joint vector;
- generating a combined weighting matrix based on the collision gradient weighting matrix and the joint limit gradient weighting matrix;
- determining a redirected motion that prevents the body segment from colliding with the first structure based on the combined weighting matrix;
- and
- redirecting the body segment based on the redirected motion to avoid colliding with the first structure.
A system for avoiding collision of a body segment in an articulated system, the system comprising:
- a computer processor for executing executable computer program code;
- a computer-readable storage medium containing the executable computer program code for performing a method comprising:
- determining a collision function for avoiding collision between the body segment and other structures in the articulated system;
- measuring a distance between the body segment and a first structure, the first structure being one of the other structures;
- determining a joint limit function for avoiding self collision between the body segment and the other structures in the articulated system;
- measuring a joint vector between the body segment and a second structure, the second structure being one of the other structures;
- generating, using a processor, a collision gradient weighting matrix based on the collision function and the measured distance;
- generating, using a processor, a joint limit gradient weighting matrix based on the joint limit function and the measured joint vector;
- generating a combined weighting matrix based on the collision gradient weighting matrix and the joint limit gradient weighting matrix;
- determining a redirected motion that prevents the body segment from colliding with the first structure based on the combined weighting matrix;
- and
- redirecting the body segment based on the redirected motion to avoid colliding with the first structure.
Dependencies are inferred from the claim text.