| 面向路径规划的碰撞检测算法研究 |
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| 引用本文： | 冯波,贾晓亮,王佩,田锡天. 面向路径规划的碰撞检测算法研究[J]. 机械设计与制造, 2011, 0(2) |
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| 作者姓名： | 冯波 贾晓亮 王佩 田锡天 |
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| 作者单位： | 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 |
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| 基金项目： | 国家863计划资助项目(2007AA040503) |
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| 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。
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| 关 键 词： | 碰撞检测 路径规划 投影法 包围盒 |
Study on the collision detection algorithm faced on path planning |
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| FENG Bo,JIA Xiao-liang,WANG Pei,TIAN Xi-tian. Study on the collision detection algorithm faced on path planning[J]. Machinery Design & Manufacture, 2011, 0(2) |
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| Authors: | FENG Bo JIA Xiao-liang WANG Pei TIAN Xi-tian |
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| Affiliation: | FENG Bo,JIA Xiao-liang,WANG Pei,TIAN Xi-tian(Key Laboratory of Contemporary Design and Integrated Manufacturing Technology,Ministry of Education,Northwestern Polytechnical University,Xi'an 710072,China) |
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| Abstract: | 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... |
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| Keywords: | Collision detection Path planning Projection method Bounding volume |
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