An Efficient Method for Collision Detection and Distance Queries in a Robotic Bridge Maintenance System

  • J. Xu
  • D. K. Liu
  • G. Fang
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 362)


When applying autonomous industrial robotic systems in an unknown/partially known or cluttered environment, mapping and representation of the environment as well as collision detection becomes crucial. Existing techniques in these areas are generally complex and computationally expensive to implement. In this paper an efficient sphere representation method is introduced for environment representation, collision detection and distance queries. In particular, this method is designed for the application in an autonomous bridge maintenance system. Simulation results show that this method is effective in environment representation and collision detection. Furthermore, the proposed method is also computationally efficient for real-time implementation


Joint Angle Collision Avoidance Collision Detection Bridge Deck Steel Bridge 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • J. Xu
    • 1
  • D. K. Liu
    • 1
  • G. Fang
    • 2
  1. 1.ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of EngineeringUniversity of TechnologySydneyAustralia
  2. 2.School of EngineeringUniversity of Western SydneyPenrith SouthAustralia

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