Research on Collision Detection Algorithm for Human-SRL Collaborative Motion Planning

The existing collision detection algorithms are commonly based on triangle patch models, which leads to complex detection logic. Aiming at this problem, this paper proposes a new collision detection algorithm. It has simple detection logic and fast detection speed, and it is mainly used for human-SR...

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Bibliographic Details
Published in:Journal of physics. Conference series Vol. 2402; no. 1; pp. 12021 - 12034
Main Authors: Zhang, Xiaobo, Liu, Jinguo
Format: Journal Article
Language:English
Published: Bristol IOP Publishing 01.12.2022
Subjects:
Algorithms
Human motion
Motion planning
Object recognition
Physics
ISSN:1742-6588, 1742-6596
Online Access:Get full text
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Summary:The existing collision detection algorithms are commonly based on triangle patch models, which leads to complex detection logic. Aiming at this problem, this paper proposes a new collision detection algorithm. It has simple detection logic and fast detection speed, and it is mainly used for human-SRL cooperative motion planning. The algorithm is based on a human-SRL skeleton model and a multi-sphere envelope method and includes four sub-algorithms, namely, a multi-sphere envelope sub-algorithm, an SRL collision detection sub-algorithm, a collision detection sub-algorithm between SRL and human, and a collision detection sub-algorithm between SRL and environment objects. This paper first introduces the pseudo-code of the collision detection algorithm. Secondly, the implementation principles of its four sub-algorithms are expounded. Finally, the correctness of the collision detection algorithm is verified by simulation.
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ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2402/1/012021