碰撞检测与干涉检测方法研究

A Survey of Collision and Interference Detection Methods

碰撞干涉检测是ＣＡＤ／ＣＡＭ和机器人学领域的一个重要方面。本文综述了有关碰撞干涉检测方面的工作，包括各种碰撞检测方法的复杂性、静态和动态检测方法、与时间相关的测试算法，详细讨论了几何与运动方面的复杂性、算法的效率和可靠性，并简要介绍了几种算法。

In the doctoral disseration of the first author, part of whose research work was done in TU Berlin, one approximate way of dealing with collision detection by fourdimensional intersection testing was studied. We will try to improve the detection efficiency of Cameron′s method (Ref.1) as a part of a research project supported by NNSFC (National Natural Science Foundation of China). In this survey, we compared various possible methods and such survey convinced us that we should pioneer in this research area hitherto unexplored in P.R.China. We discussed in some detail the advantages and disadvantages of the following methods for collision detection: (1) fourdimensional CSG method; (2) bintree method; (3) sweeping method; (4) Brep method; (5) octree method, etc. We found that, for our purpose, Cameron′s method is to be preferred chiefly because it is a method that can give the precise time and precise position when collision occurs.