A new obstacle representation based on a union of rectangular solids is also used to reduce the obstacle memory capacity, so that the collision detection can be performed only by parallel magnitude comparison. Parallel architecture using several identical processor elements (PEs) is employed to perform the coordinate transformation at high speed based on the Coordinate Rotation Digital Computation (CORDIC) algorithms. The collision detection-time becomes 5.2 ms using 20 PEs and five CAMs with a 42-kbit capacity.
|Number of pages||8|
|Journal||IEICE Transactions on Electronics|
|Publication status||Published - 1993 Dec 1|
ASJC Scopus subject areas
- Electronic, Optical and Magnetic Materials
- Electrical and Electronic Engineering