基于三维物体特征图的动态碰撞检测方法

Dynamic Collision Detection Method Based on Figure Graph of 3D Models

碰撞是多机器人系统作业过程中一定要避免的关键问题,碰撞检测对系统安全、避障策略至关重要;针对现有碰撞检测方法在结构复杂的多机器人系统,特别是高精度作业中检测精度不能满足实际的问题,提出了一种基于物体特征图的碰撞检测方法;该方法根据不同物体的结构特征,构造出能够紧密包裹该物体的特征图,以遍历特征图的方式检测物体间的碰撞;同时,结合使用碰撞检测掩码方法实现动态碰撞检测,以提高碰撞检测效率;通过实验分析表明,该方法比传统的碰撞检测方法拥有更高的碰撞检测精度以及检测效率。

Collision problem is a key issue in multi-robot system which must be solved, and the collision detection method is important for system security and avoidance strategy. In the multi-robot systems which have a complex structure, existing collision detection methods cannot meet the actual accuracy needs, especially in high precision operation system, raise a new collision detection way based on the feature graph of objects. According to the structure characteristics o~ different obiects, construct the feature graph which tightly wrapped the object, and the collision can be detected by traversing the feature graph. At the same time, in order to improve the efficiency of the detection meth od, in combination with the detection masks method. Through experimental analysis shows that this method has a higher collision detection accuracy and detection efficiency than the traditional method of collision detection.