Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
Collision detection is the most important factor of Path Planning. Without automatic collision avoidance, the robotic workcell must be engineered to be collision free, or sub-optimal paths must be chosen by a human programmer. Local Collsion Detection is important when moving through an unknown, or uncertain environment. These allow for feedback to the planner, for halting paths which contain collisions. Global Collision Avoidance may be done for planning paths which should avoid objects by a certain margin of safety. The actual detail of the method may vary, but moving close to obstacles is avoided by these methods.
Figure 2.3 Collision Avoidance
