HALOWERKIotwerk
robotic path clearance
Computes the minimum Euclidean distance from each circular obstacle center to every path segment, then subtracts obstacle radius and robot radius. It detects planar static clearance only; it does not model robot shape beyond a circle, dynamics, uncertainty or moving obstacles.
POST https://iot.halowerk.com/v1/robotic-path-clearanceEingaben
| Feld | Typ | Pflicht | Beschreibung |
|---|---|---|---|
| path | array | Ja | |
| obstacles | array | Ja | |
| robot_radius | number | Ja | |
| required_margin | number | Nein |
Vollständiges Eingabeschema anzeigen
{
"type": "object",
"required": [
"path",
"obstacles",
"robot_radius"
],
"additionalProperties": false,
"properties": {
"path": {
"type": "array",
"minItems": 2,
"maxItems": 10000,
"items": {
"type": "object",
"required": [
"x",
"y"
],
"additionalProperties": false,
"properties": {
"x": {
"type": "number",
"minimum": -1000000000,
"maximum": 1000000000
},
"y": {
"type": "number",
"minimum": -1000000000,
"maximum": 1000000000
}
}
}
},
"obstacles": {
"type": "array",
"maxItems": 10000,
"items": {
"type": "object",
"required": [
"id",
"x",
"y",
"radius"
],
"additionalProperties": false,
"properties": {
"id": {
"type": "string",
"minLength": 1,
"maxLength": 128
},
"x": {
"type": "number",
"minimum": -1000000000,
"maximum": 1000000000
},
"y": {
"type": "number",
"minimum": -1000000000,
"maximum": 1000000000
},
"radius": {
"type": "number",
"minimum": 0,
"maximum": 1000000000
}
}
}
},
"robot_radius": {
"type": "number",
"minimum": 0,
"maximum": 1000000000
},
"required_margin": {
"type": "number",
"minimum": 0,
"maximum": 1000000000
}
}
}Veröffentlichtes Eingabebeispiel
{
"path": [
{
"x": 0,
"y": 0
},
{
"x": 5,
"y": 0
},
{
"x": 10,
"y": 5
}
],
"obstacles": [
{
"id": "rack-7",
"x": 5,
"y": 1.5,
"radius": 0.5
},
{
"id": "post-2",
"x": 8,
"y": 4,
"radius": 0.4
}
],
"robot_radius": 0.6,
"required_margin": 0.2
}Ergebnis & Dokumentation
Veröffentlichtes Ergebnisschema anzeigen
{
"$ref": "https://iot.halowerk.com/v1/robotic-path-clearance/schema#/outputSchema"
}Veröffentlichtes Ergebnisbeispiel öffnen
Maschinenlesbare Dokumentation dieses Hubs
Quelle dieser Seite: der veröffentlichte HALOWERK-Katalog. Stand: 2026-11-01, 15:19 UTC.
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