Sökning: "Superquadrics"

Hittade 1 uppsats innehållade ordet Superquadrics.

  1. 1. Superquadrics Augmented Rapidly-exploring Random Trees.

    Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :YARED EFREM AFEWORK; [2019]
    Nyckelord :Superquadrics; RRT; GJK; Collision Detection.; Superquadrics; RRT; GJK; Kollisionsdetektering.;

    Sammanfattning : This thesis work investigated the advantages and disadvantages of using superquadrics (SQ) to do the collision-checking part of the Rapidly-exploring Random Trees (RRT) motion planning algorithm for higher Degree of Freedom (DoF) motion planning, comparing it with an established proximity querying method known as the Gilbert-Johnson-Keerthi (GJK) algorithm. In the RRT algorithm, collision detection is the main bottleneck, making this topic interesting to research. LÄS MER