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 proceedingConference 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 languageEnglish
Title of host publication2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010 - Chengdu, China
Duration: 2010 Sep 232010 Sep 25

Publication series

Name2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010

Conference

Conference2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, WiCOM 2010
Country/TerritoryChina
CityChengdu
Period10/9/2310/9/25

Keywords

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

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Communication

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