复杂场景中并行碰撞检测算法的研究

Study of Parallel Collision Detection Algorithms in Complex Environment

碰撞检测在机器人运动规划、虚拟环境、分布交互仿真中都起着重要作用.随着虚拟环境的几何复杂性及现代CPU并行处理能力的增加,为实现快速精确的碰撞检测,并行技术开始广泛地应用于碰撞检测算法中.本文介绍基于并行技术的碰撞检测算法,并着重对已使用的各种并行技术进行了分析比较.

Collision detection plays an important role in the robot motion planning, virtual environment, distributed interactive simulation. With the geometric complexity of the virtual environment and the increase of parallel processing Capability of modem CPU, and the aim to achieve rapid precise collision detection, parallel technology is widely used in collision detection algorithm. The paper describes several parallel collision detection algorithms, and focus on the analysis and comparison of parallel technology.