Method and apparatus for controlling the movement of a guided ob

Details Method and apparatus for controlling the movement of a guided ob Method and apparatus for controlling the movement of a guided ob

1987-10-30

1990-05-01

Lall, Parshotam S.

Boots, shoes, and leggings

364559, 364513, 901 16, 901 18, B25J 900, G06F 1550

Patent

active

049224301

ABSTRACT:
A method is provided for controlling the movement of an object 1, 61, in an environment 64. The method involves making predictions of collisions, given the outlines of the object and the environment, so that avoiding action can be taken. The object and environment are modelled as clusters of interpenetrating spherical bubbles, the model comprising the relative positions of the centers 6, 7, 8, 9, and 21 to 28 inclusive of the bubbles and their respective radii. The model simplifies the prediction of the point of collision of two such modelled objects by examining the collisions between bubbles only. An early, safe, approximate prediction of the collision can be obtained using Newton's approximation.

REFERENCES:
patent: 3902972 (1975-11-01), Corwin, Jr. et al.
patent: 4028533 (1977-06-01), Matsubara
patent: 4063073 (1977-12-01), Strayer
patent: 4578757 (1986-03-01), Stark
patent: 4638445 (1987-01-01), Mattaboni
patent: 4727471 (1988-02-01), Driels et al.

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