Cable Vector Collision Detection Algorithm for Multi-Robot Collaborative Towing System

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...

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Veröffentlicht in:Shanghai jiao tong da xue xue bao Jg. 30; H. 2; S. 319 - 329
Hauptverfasser: Li, Tao, Zhao, Zhigang, Zhu, Mingtong, Zhao, Xiangtang
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Shanghai Shanghai Jiaotong University Press 01.04.2025
Springer Nature B.V
Schlagworte:
Algorithms
Architecture
Cables
Collaboration
Computer Science
Electrical Engineering
Engineering
Life Sciences
Materials Science
Motion planning
Multiple robots
Obstacle avoidance
Optimization models
Robot dynamics
Virtual environments
collision detection
TP242.2
包围盒
A
cable-driven
多机器人系统
bounding box
multi-robot system
绳牵引
碰撞检测
ISSN:1007-1172, 1995-8188
Online-Zugang:Volltext
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Zusammenfassung: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.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1007-1172
1995-8188
DOI:10.1007/s12204-023-2592-0