Accelerating Proximity Queries Accelerating Proximity Queries for Non-convex Geometries in a Robot Cell Context

Examensarbete för masterexamen

Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12380/255144
Download file(s):
File Description SizeFormat 
255144.pdfFulltext3.66 MBAdobe PDFView/Open
Type: Examensarbete för masterexamen
Master Thesis
Title: Accelerating Proximity Queries Accelerating Proximity Queries for Non-convex Geometries in a Robot Cell Context
Authors: Thorén, Joakim
Abstract: Sampling-based motion-planners, for example rapidly exploring dense tree (RRT) based planners, depend on fast proximity queries. Regrettably, bounding volume tests are significant bottlenecks of proximity queries. Sampling-based motion-planners are therefore accelerated by reducing the number of bounding volume tests. To this end, a novel algorithm called Forest Proximity Query (FPQ) is developed. Contrary to previous research, FPQ traverses several pairs of BVHs simultaneously, effectively exploiting an actuality that only a single minimal separation distance — out of several possible separation distances — is required during sampling-based motion-planning. An implementation of FPQ show that FPQ performs up to 67% fewer BV tests in comparison to the well-known Proximity Query Package, increasing proximity querying performance by up to 46%. In conclusion, FPQ is successful in its attempt at improving performance of sampling-based motion-planners.
Keywords: Informations- och kommunikationsteknik;Data- och informationsvetenskap;Information & Communication Technology;Computer and Information Science
Issue Date: 2018
Publisher: Chalmers tekniska högskola / Institutionen för data- och informationsteknik (Chalmers)
Chalmers University of Technology / Department of Computer Science and Engineering (Chalmers)
URI: https://hdl.handle.net/20.500.12380/255144
Collection:Examensarbeten för masterexamen // Master Theses



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.