Obstacle avoidance and path planning based on S-Type Double-Arc insertion method

Xiao Tong Hu; Zeng Chao

doi:10.1109/WICOM.2010.5600668

Obstacle avoidance and path planning based on S-Type Double-Arc insertion method

Xiao Tong Hu^*, Zeng Chao

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper propose an S-Type Double-Arc insertion method for automatic needle insertion in path planning with obstacle avoidance, which is based upon the research of path planning in the case of an obstacle appears between needle and target. Through the evaluation of the relative position among the needle, obstacle and target, using their tangent lines, an approach which combines global and local path planning was presented. With inserting a needle along the arcs of a contour line inscribed polygon, and approaching the necessary algorithm of obstacle avoidance for automatic needle insert with a minimum cost(to minimize the pain of patients), in order to improve the applicability for path planning of automatic needle insertion.

Original language	English
Title of host publication	2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010
DOIs	https://doi.org/10.1109/WICOM.2010.5600668
Publication status	Published - 2010
Externally published	Yes
Event	2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010 - Chengdu, China Duration: 2010 Sept 23 → 2010 Sept 25

Publication series

Name	2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010

Conference

Conference	2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010
Country/Territory	China
City	Chengdu
Period	10/9/23 → 10/9/25

Keywords

Double-Arc insertion
Induction field in vision(IFV)
Obstacle avoidance
Path planning

ASJC Scopus subject areas

Computer Networks and Communications
Communication

Access to Document

10.1109/WICOM.2010.5600668

Cite this

Hu, X. T., & Chao, Z. (2010). Obstacle avoidance and path planning based on S-Type Double-Arc insertion method. In 2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010 Article 5600668 (2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010). https://doi.org/10.1109/WICOM.2010.5600668

Obstacle avoidance and path planning based on S-Type Double-Arc insertion method. / Hu, Xiao Tong; Chao, Zeng.
2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010. 2010. 5600668 (2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hu, XT & Chao, Z 2010, Obstacle avoidance and path planning based on S-Type Double-Arc insertion method. in 2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010., 5600668, 2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010, 2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010, Chengdu, China, 10/9/23. https://doi.org/10.1109/WICOM.2010.5600668

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title = "Obstacle avoidance and path planning based on S-Type Double-Arc insertion method",

abstract = "This paper propose an S-Type Double-Arc insertion method for automatic needle insertion in path planning with obstacle avoidance, which is based upon the research of path planning in the case of an obstacle appears between needle and target. Through the evaluation of the relative position among the needle, obstacle and target, using their tangent lines, an approach which combines global and local path planning was presented. With inserting a needle along the arcs of a contour line inscribed polygon, and approaching the necessary algorithm of obstacle avoidance for automatic needle insert with a minimum cost(to minimize the pain of patients), in order to improve the applicability for path planning of automatic needle insertion.",

keywords = "Double-Arc insertion, Induction field in vision(IFV), Obstacle avoidance, Path planning",

author = "Hu, {Xiao Tong} and Zeng Chao",

year = "2010",

doi = "10.1109/WICOM.2010.5600668",

language = "English",

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AB - This paper propose an S-Type Double-Arc insertion method for automatic needle insertion in path planning with obstacle avoidance, which is based upon the research of path planning in the case of an obstacle appears between needle and target. Through the evaluation of the relative position among the needle, obstacle and target, using their tangent lines, an approach which combines global and local path planning was presented. With inserting a needle along the arcs of a contour line inscribed polygon, and approaching the necessary algorithm of obstacle avoidance for automatic needle insert with a minimum cost(to minimize the pain of patients), in order to improve the applicability for path planning of automatic needle insertion.

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Obstacle avoidance and path planning based on S-Type Double-Arc insertion method

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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