自适应细分及优化编码八叉树碰撞检测算法  

A Novel Algorithm for Collision Detection Based on Octree of Adaptive Subdivision and Encoding

作　　者：鲍义东[1,2] 吴冬梅[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080 [2]平顶山学院软件学院,河南平顶山467000

出　　处：《上海交通大学学报》2015年第8期1114-1122,共9页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金项目(61273358/F0306);哈尔滨工业大学基础交叉学科项目(HIT.IBRSEM.201320);国家重点实验室项目(SKLRS2014013B)资助

摘　　要：基于自适应三角网格划分和优化编码八叉树结构,在机器人虚拟手术训练系统中提出一种新的碰撞检测方法.采用该方法实现的八叉树结构占用存储空间小,且在具有良好的拓扑结构下又能保证实时性要求.八叉树结构中采用物体三角面片AABB包围盒平均边长的3倍设置八叉树空间单元大小,与已有文献采用包围球半径来设置八叉树空间单元大小相比,设置的单元大小合理有效,速度更快.最后根据三角形与最优单元大小相关性,通过自适应三角网格细分,利用三角形中心距离方法检测单元空间中三角形碰撞.实验仿真数据验证了该方法的实时性和有效性.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.

关 键 词：机器人手术训练系统 八叉树结构 碰撞检测 编码 三角形细分 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]