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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Veröffentlicht in:Journal of physics. Conference series Jg. 2402; H. 1; S. 12021 - 12034
Hauptverfasser: Zhang, Xiaobo, Liu, Jinguo
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Bristol IOP Publishing 01.12.2022
Schlagworte:
Algorithms
Human motion
Motion planning
Object recognition
Physics
ISSN:1742-6588, 1742-6596
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Abstract 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.
AbstractList 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.
Author Zhang, Xiaobo
Liu, Jinguo
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  organization: China University of Chinese Academy of Sciences , China
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  fullname: Liu, Jinguo
  organization: Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences
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Cites_doi 10.1109/JAS.2021.1003961
10.1080/10867651.1997.10487480
10.1080/10867651.1997.10487472
10.1016/j.cag.2009.03.009
10.1145/966131.966132
10.1002/(SICI)1097-4563(199711)14:11<789::AID-ROB3>3.0.CO;2-Q
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SubjectTerms Algorithms
Human motion
Motion planning
Object recognition
Physics
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