面向路径规划的碰撞检测算法研究  

Study on the collision detection algorithm faced on path planning

作　　者：冯波[1] 贾晓亮[1] 王佩[1] 田锡天[1] 

机构地区：[1]西北工业大学现代设计与集成制造技术教育部重点实验室,西安710072

出　　处：《机械设计与制造》2011年第2期44-46,共3页Machinery Design & Manufacture

基　　金：国家863计划资助项目(2007AA040503)

摘　　要：为了提高虚拟环境下路径规划中碰撞检测的质量与效率,提出一种面向路径规划的连续碰撞检测算法。分析了面向路径规划的碰撞检测的空间与时间特点,给出了算法实现的基本流程。该方法综合运用投影技术和层次包围盒法,显著降低了计算的复杂度,便于运用在工程实践中,并在装配工艺设计工具上对其进行了可行性验证。In order to improve the quality and efficiency of the collision detection algorithm in path planning under virtual environment,a continuous collision detection algorithm faced on path planning was put forward,which synthetically used the projection method and bounding volume hierarchy.The features of space and time of the collision detection faced on path planning were analyzed and the flow of the algorithm was shown.The computation complexity of the algorithm was notably reduced by adopting this method,and it was conveniently used in engineering practice,and the feasibility of this method was validated at the tool of assembly process design.

关 键 词：碰撞检测 路径规划 投影法 包围盒 

分 类 号：TH16[机械工程—机械制造及自动化] TP391[自动化与计算机技术—计算机应用技术]