3D Obstacle Detection Reference Example
PrintOverview
In motion applications, especially robotics, it is imperative to know if a generated motion path is free of obstacles. This algorithm provides a solution for checking if a straight line move intersects a 3D region. This region is defined by an array of “faces” or planes defined by three points.
Downloads
Filename: obstacle_detection.zip
Requirements: View
The 3D Obstacle detection algorithm mathematically checks if a straight line intersects an array of triangular faces. The triangular faces are defined by 3 points or vertices.
In the figure below the front panel of the example program is shown. It graphically displays the 3D faces and move line. In this example, a simple array of triangular faces is generated to represent a cube from the “No Move Zone” criteria. After this array is built, the program checks all the faces for intersections with the move line. Multiple 3D regions of much greater complexity can be analyzed for intersections using this same algorithm.
Where to go from here
Fundamentals of Motion Control
http://zone.ni.com/devzone/cda/tut/p/id/3367
NI Motion Control
Requirements
Filename: obstacle_detection.zip
Software Requirements
Application Software: LabVIEW Full Development System 8.5
Language(s): LabVIEW
Reader Comments | Submit a comment »
Not for LV8.5 Mac
Won't run under 8.5 on a Mac, due to the lack of 3D graphing
VIs. Have not yet tried under 8.6 on an Intel Mac...
- Tom Lawton, University of Surrey. t.lawton@surrey.ac.uk - May 18, 2009
Legal
This example program (this "program") was developed by a National Instruments ("NI") Applications Engineer. Although technical support of this program may be made available by National Instruments, this program may not be completely tested and verified, and NI does not guarantee its quality in any way or that NI will continue to support this program with each new revision of related products and drivers. THIS EXAMPLE PROGRAM IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND AND SUBJECT TO CERTAIN RESTRICTIONS AS MORE SPECIFICALLY SET FORTH IN NI.COM'S TERMS OF USE (http://ni.com/legal/termsofuse/unitedstates/us/).