Abstract: model collision avoidance system has been developed in the Kansas Augmented Telerobotics Laboratory (KATL) at the University of Kansas. Collision avoidance is implemented on a Kraft Telerobotics master/slave system. The two primary components of the system discussed within are the building the obstacle model and the scheme for the distributed sampling of the obstacle model by the slave model. The system rune in real-time on a PC-AT platform. The collision avoidance system samples the location of objects in the slave's surroundings from the KATL world model. The system then converts a simplified constructive solid geometry (CSG) representation of the world model into the octree representation of the obstacle model. The world model represents objects with variable amounts of detail. This allows the user to select the amount of detail that is passed the collision avoidance system, which leads directly to the amount of detail in the obstacle model. At run time, the future position of the slave is predicted. The collision avoidance system resolves each link of the slave into an octree structure and requests the octree of the obstacle model in the vicinity of the slave across an Arcnet LAN. The system uses a fast algorithm to determine whether a collision will occur. If a collision is imminent, feedback forces are applied to the master to avoid the potential collision.!7
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