上海交通大学学报(自然版) ›› 2015, Vol. 49 ›› Issue (08): 1114-1122.

• 自动化技术、计算机技术 • 上一篇    下一篇

自适应细分及优化编码八叉树碰撞检测算法

鲍义东1,2,吴冬梅1   

  1. (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)
  • 收稿日期:2014-06-23 出版日期:2015-08-31 发布日期:2015-08-31
  • 基金资助:

    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

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

BAO Yidong1, 2,WU Dongmei1   

  1. (1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China;2. School of Software, Pingdingshan University, Pingdingshan 467000, Henan, China)
  • Received:2014-06-23 Online:2015-08-31 Published:2015-08-31

摘要:

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.

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

Abstract:

Abstract: 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.

Key words:  , robot operation training system; octree structure; collision detection; encoding; triangle subdivision

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