大面积三维场景中的无人机碰撞检测快速算法

A Effective Collision Detection Algorithm for UAV in Large 3D Scene

无人机实时监控与驾驶员模拟训练系统的三维可视化子系统具有计算无人机与其他物体 (包括山脉、树木、建筑物等 )碰撞可能性、具体碰撞点、碰撞方向和碰撞力量的功能。但无人机测控系统中的三维场景可视面积很大 ,场景中的物体数量庞大 ,至使碰撞检测的运算量很大 ,因而会大幅度降低三维场景的实时性。因此 ,设计快速有效的碰撞检查算法十分必要。作者设计的快速算法快速有效 。

One of the major functions of the 3D visualization sub-system of the UAV (Unmanned Aerial Vehicle)TT&C and operator training simulation system is used to detect the collision between the UAV and the surrounding objects (such as mountations,trees and buildings).Because of the area in the 3D scene of the UAV TT&C system is very wide,and there is a large number of objects,collision detection will spend much time and reduce the fresh rate of the 3D scene.So,it is necessary to design a effective collision detection algorithm.The algorithm presented in this paper can be used to detect the collision rapidly and effectively.