Collision Detection Algorithm in Virtual Environment of Robot Workcell

摘要

Rapid and accurate collision detection is necessary to robot programming and simulation system based on virtual reality. A collision detection algorithm based on the data structure of the pre-built scene graph is proposed. It is the hierarchical accurate method. The architecture of collision detection system is established according to the hierarchy of scene graph for robot workcell, and implementation process of the collision detection algorithm is given. The collision detection system includes four collision detection managers. Groups filter manager, objects filter manager and faces & objects intersection manager are used in the broad phase of the collision detection, and they improve the speed of the algorithm by AABB intersection test and the layer by layer filtration. Polygons intersection manager is used in the narrow phase, and it ensures the accuracy of the algorithm. The result of the 3D graphics simulation experiment proves the effectiveness and feasibility of the way introduced.