Rapid and continuous collision detection method based on K_DOPs (k-discrete orientation polytopes)

Abstract

The invention provides a rapid and continuous collision detection method based on K_DOPs (k-discrete orientation polytopes), which includes the steps: (1) presetting an initial time point and a terminal time point, detecting whether two objects are collided or not at the initial time point and the terminal time point by means of static K_DOPs collision detection technology, exiting if the objects are collided and going to a second step if not; (2) detecting dynamic intersection of bounding boxes according to motion paths of the two objects; (3) exiting if the K_DOPs bounding boxes of two subintervals are not intersected and going to a fourth step if the K_DOPs bounding boxes are intersected; (4) detecting collision of basic elements of the colliding bounding boxes; and (5) reporting collision and exiting if the basic elements are collided, and reporting no collision and exiting if not. By the aid of the rapid and continuous collision detection method, collision of two rigid bodies during continuous movement can be detected in real time, omission and piercing in discrete detection can be avoided, detection results can be more reliable, and precision and performance are high.

Description

technical field [0001] The invention belongs to the field of robot motion, in particular to a method for real-time collision detection when a robot is moving. Background technique [0002] Collision detection algorithms have a long research history in the field of robot motion, and real-time collision detection is a very critical issue in the field of robotics. At present, there are many feasible collision detection algorithms, but with the emergence of emerging fields such as virtual reality and the subsequent improvement of people's requirements for real-time interaction and scene authenticity, the problems faced by collision detection technology are also increasing. Increasingly prominent, one of the core issues is how to effectively improve the speed of collision detection. [0003] The commonly used methods are mainly divided into two categories: discrete methods and continuous methods. The discrete method is to determine the collision situation by calculating the sta...

AI Technical Summary

Problems solved by technology

The discrete method is to determine the collision situation by calculating the state of each time point regularly, but this method will cause puncture and missed detection

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