A novel algorithm for collision detection based on octree of adaptive subdivision and encoding

被引：0

作者：

Bao, Yi-Dong ^{[1
,2
]}

Wu, Dong-Mei ^{[1
]}

机构：

[1] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin

[2] School of Software, Pingdingshan University, Pingdingshan, 467000, Henan

来源：

Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2015年 / 49卷 / 08期

关键词：

Collision detection; Encoding; Octree structure; Robot operation training system; Triangle subdivision;

D O I：

10.16183/j.cnki.jsjtu.2015.08.007

中图分类号：

学科分类号：

摘要：

A novel algorithm for collision detection in robot operation training system based on octree of adaptive subdivision and encoding algorithm was proposed in this paper. Using this method, this structure can not only guarantee the real-time, and has the good topology. This octree structure adopts three times of the average triangle of the axis aligned bounding box to set the cell size. It is reasonable and effective compared with the radius of sphere. Based on the triangle size and the optimal cell size, by using the adaptive triangular mesh subdivision and the centroid distance, the collision in the space was detected. The experimental simulation data verify the real-time and effectiveness of the method. ©, 2015, Shanghai Jiao Tong University. All right reserved.

引用

页码：1114 / 1122

页数：8

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