{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T02:27:39Z","timestamp":1740104859769,"version":"3.37.3"},"reference-count":16,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,9,6]],"date-time":"2007-09-06T00:00:00Z","timestamp":1189036800000},"content-version":"vor","delay-in-days":8589,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"crossref","award":["N00014-75-C-0643"],"award-info":[{"award-number":["N00014-75-C-0643"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1984,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Maneuvering an industrial robot to avoid a collision with obstacles in real time involves not only the fast obstacle detection and descripton, but also fast decision making. The problem is complicated since no <jats:italic>a priori<\/jats:italic> knowledge about obstacles is assumed. In addition, they may appear in the robot's path unexpectedly. To detect and describe the three\u2010dimensional obstacles, stereo cameras are used to collect environmental images. Through the top view of the workspace, the cameras furnish the silhouette as well as heights of obstacles. To speed up the image processing, the pixel array is grouped into patches and the maximum height of each patch is determined. TO simplify the obstacle description in the computer, a \u201cpillar\u201d model of the bounding polyhedra is constructed. Fast decision making is accomplished by structuring a finite number of possible collision avoidance paths. Path feasibility is determined at the \u201cmodule aisle\u201d level while optimization is performed at the subpath level so that the magnitude of processing effort is reduced from the order of 6 to 3 \u00d7 6.<\/jats:p>","DOI":"10.1002\/rob.4620010103","type":"journal-article","created":{"date-parts":[[2010,7,6]],"date-time":"2010-07-06T09:31:27Z","timestamp":1278408687000},"page":"5-26","source":"Crossref","is-referenced-by-count":9,"title":["A Scheme for Collision Avoidance with Minimum Distance Traveling for Industrial Robots"],"prefix":"10.1002","volume":"1","author":[{"given":"J. Y. S.","family":"Luh","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,9,6]]},"reference":[{"unstructured":"D. C.Pieper \u201cThe Kinematics of Manipulators under Computer Control \u201d ARPA Order N0.957. Stanford CA: Stanford University 1968.","key":"e_1_2_1_2_2"},{"volume-title":"A Heuristic Collision Avoider for the Stanford Robot Arm","year":"1974","author":"Widdoes C.","key":"e_1_2_1_3_2"},{"unstructured":"S. M.Udupa \u201cCollision Detection and Avoidance in Computer Controlled Manipulators \u201d Ph.D. Thesis California Institute of Technology 1977.","key":"e_1_2_1_4_2"},{"doi-asserted-by":"publisher","key":"e_1_2_1_5_2","DOI":"10.1145\/359156.359164"},{"doi-asserted-by":"publisher","key":"e_1_2_1_6_2","DOI":"10.1109\/TSMC.1981.4308589"},{"volume-title":"Spatial Planning: A Configuration Space Approach","year":"1980","author":"Lozano\u2010Perez T.","key":"e_1_2_1_7_2"},{"unstructured":"R. A.Brooks \u201cSolving the Find\u2010Path Problem by Good Representation of Free Space \u201dProceedings AAAI 2nd Annual National Conference on Artifical Intelligence August 18\u201320 1982 Pittsburgh PA pp.381\u2013386.","key":"e_1_2_1_8_2"},{"doi-asserted-by":"crossref","unstructured":"J. Y. S.LuhandC. E.Campbell \u201cCollision\u2010Free Path Planning for Industrial Robots \u201dProceedings 21st IEEE Conference on Decision and Control December 8\u201310 1982 Orlando FL pp.84\u201388.","key":"e_1_2_1_9_2","DOI":"10.1109\/CDC.1982.268405"},{"unstructured":"IEEE Tram. Auto. Control 1984 29 9","key":"e_1_2_1_9_3"},{"unstructured":"J.SchwartzandM.Sharir \u201cOn the Piano\u2010Movers' Problem: I. The Case of a Two\u2010Dimensional Rigid Body Moving Amidst Polygonal Barriers.\u201d Tech. Report 39 Computer Science Department Courant Institute of Mathematic Sciences New York University October1981.","key":"e_1_2_1_10_2"},{"unstructured":"J.SchwartzandM.Sharir \u201cOn the Piano\u2010Mover's Problem: II. General Techniques for Computing Topological Properties of Real Algebraic Manifolds \u201d Tech. Report 41 Computer Science Department Courant Institute of Mathematical Sciences New York University February1982.","key":"e_1_2_1_11_2"},{"volume-title":"The Voronoi Diagram Method of Motion\u2010Planning: I. The Case of a Disc","year":"1982","author":"O'Dunlaing C.","key":"e_1_2_1_12_2"},{"volume-title":"Retraction: A New Approach to Motion\u2010Planning (Extended Abstract)","year":"1982","author":"O'Dunlaing C.","key":"e_1_2_1_13_2"},{"doi-asserted-by":"publisher","key":"e_1_2_1_14_2","DOI":"10.1109\/TAC.1983.1103216"},{"unstructured":"H. K.Nishihara \u201cPRISM: A Practical Realtime Imaging Stereo Matcher \u201dProceedings SPIE\u2014The International Society for Optical Engineering Vol. 449 Intelligent Robots: 3rd International Conference on Robot Vision & Sensory Control November 6\u201310 1983 Cambridge.","key":"e_1_2_1_15_2"},{"key":"e_1_2_1_16_2","doi-asserted-by":"crossref","first-page":"50","DOI":"10.7551\/mitpress\/3132.001.0001","volume-title":"From Image to Surfaces: A Computational Study of the Human Early Visual System","author":"Grimson W. E. L.","year":"1981"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620010103","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620010103","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620010103","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,20]],"date-time":"2023-10-20T02:00:33Z","timestamp":1697767233000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620010103"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1984,3]]},"references-count":16,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1984,3]]}},"alternative-id":["10.1002\/rob.4620010103"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620010103","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1984,3]]}}}