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发明授权
US08396595B2 Real-time self collision and obstacle avoidance using weighting matrix 有权
使用加权矩阵实时自身碰撞和避障

Real-time self collision and obstacle avoidance using weighting matrix
摘要：
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.
摘要（中）：

描述了一种用于避免主体段与铰接系统中的其他结构碰撞的系统，方法和计算机程序产品。 根据一个方面，确定了避免这种碰撞的碰撞功能。 测量身体部分和一个这样的结构之间的距离。 基于碰撞函数和距离生成加权矩阵，并用于确定身体段的重定向运动。 基于重定向的运动，身体段被重定向，以避免与结构的碰撞。

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