摘要
为了实现对实体机器人逼真的模拟和准确的反馈,设计了一套具有一定通用性的机器人虚拟仿真系统,并在系统中对虚拟物体采用分类策略成功地将AABB与SWIFT++算法相结合,兼顾了仿真系统对碰撞检测算法的实时性与准确性的要求,有效地解决了效率与正确性之间的矛盾。在算法预处理阶段对非凸物体采用表面凸分解的方法,使碰撞检测算法具有处理非凸物体的能力。实验结果表明,该系统同样适用于服务型机器人,具有一定的通用性,碰撞检测算法比单独使用SWIFT++算法具有更快速的优点。
In order to realize the vivid simulation and the accurate feedback of the entity robot,a set of robot simulation system is designed,which is of generality.It uses classification strategy for virtual objects to combine the AABB algorithm with the SWIFT＋＋ algorithm.Therefore,it meets the requirements of real-time and accurate toward collision detection algorithm in the simulation system and solves the paradox between efficiency and accuracy.In the stage of algorithm pretreatment,the surface convex decomposition method is taken so that the collision detection algorithm is able to deal with the non-convex objects.The experiments show that the system can be applied in service robot and it is of generality.The collision detection algorithm is more efficient than those which only use SWIFT＋＋ algorithm.
出处
《计算机工程与设计》
CSCD
北大核心
2010年第20期4455-4458,4496,共5页
Computer Engineering and Design
基金
国家863高技术研究发展计划基金项目(2007AA01Z319)
国家科技支撑计划课题基金项目(2006BAK13B10)
上海重点学科建设基金项目(J50103)
