多机协调吊运系统的绳索矢量碰撞检测算法研究

doi:10.1007/s12204-023-2592-0

摘要/Abstract

摘要： 针对多台机器人通过柔性绳索协调吊运同一被吊运物的过程中，现有的绳索与环境障碍物碰撞检测算法存在误判和漏判问题，本文研究了绳索矢量的碰撞检测，通过算法实现碰撞检测目的。考虑绳索自身特性，基于有向包围盒理论，建立了绳索优化模型与环境障碍物模型，提出新的基本几何碰撞检测模型。在此基础上，提出一种绳索矢量碰撞快速检测算法和优化原则。最后，通过仿真验证了绳索碰撞检测模型的合理性和所提算法的有效性。仿真结果表明，该方法能够满足快速检测原则和复杂虚拟环境下的精度要求。研究结果为系统避障运动规划奠定了基础。

关键词: 多机器人系统, 包围盒, 绳牵引, 碰撞检测

Abstract: 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.

中图分类号:

TP242.2

. 多机协调吊运系统的绳索矢量碰撞检测算法研究[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(2): 319-329.

Li Tao, Zhao Zhigang, Zhu Mingtong, Zhao Xiangtang. Cable Vector Collision Detection Algorithm for Multi-Robot Collaborative Towing System[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(2): 319-329.

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