Cable Vector Collision Detection Algorithm for Multi-Robot Collaborative Towing System  

作　　者：Ll Tao ZHAO Zhigang ZHU Mingtong ZHA Xiangtang 李涛;赵志刚;朱明同;赵祥堂

机构地区：[1]School of Mechatronic Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2025年第2期319-329,共11页上海交通大学学报(英文版)

基　　金：the National Natural Science Foundation of China(Nos.51265021 and 51965032);the Gansu Provincial Department of Education:Excellent Graduate Student“Innovation Star"Project(No.2022CXZX-571)。

摘　　要：For the process of multi-robot collaboration to lift the same lifted object by flexible cables,the existing collision detection algorithm of cables between the environmental obstacles has the problem of misjudgment and omission.In this work,the collision detection of cable vector was studied,and the purpose of collision detection was realized by algorithm.Considering the characteristics of cables themselves,based on oriented bounding box theory,the cable optimization model and environmental obstacle model were established,and a new basic geometric collision detection model was proposed.Then a fast cable vector collision detection algorithm and an optimization principle were proposed.Finally,the rationality of the cable collision detection model and the effectiveness of the proposed algorithm were verified by simulation.Simulation results show that the proposed method can meet the requirements of the fast detection and the accuracy in complex virtual environment.The results lay a foundation for obstacle avoidance motion planning of system.

关 键 词：multi-robot system bounding box CABLE-DRIVEN collision detection 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]