On the Improvement of Cable Collision Detection Algorithms

Collision detection algorithms are used in aerospace, swarm robotics, automotive, video gaming, dynamics simulation and other domains. As many applications of collision detection run online, timing requirements are imposed on the algorithm runtime: algorithms must, at a minimum, keep up with the passage of time. Even offline reachability computation can be slowed down by the process of safety checking when n is large and the specification is n-to-n collision avoidance. In practice, this places a limit on the number of objects, n, that can be concurrently tracked or verified. In this paper, we present an improved method for efficient object tracking and collision detection, based on a modified version of the axis-aligned bounding-box (AABB) tree data structure. We consider 4D AABB Trees, where a time dimension is added to the usual three space dimensions, in order to enable per-object time steps when checking for collisions in space-time. We evaluate the approach on a space debris collision benchmark, demonstrating efficient checking beyond the full catalog of n = 16848 space objects made public by the U.S. Strategic Command on www.space-track.org.

Download Full-text

A New K-DOPs Collision Detection Algorithms Improved by GA

Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering - Wireless Communications and Applications ◽

10.1007/978-3-642-29157-9_6 ◽

2012 ◽

pp. 58-68 ◽

Cited By ~ 1

Author(s):

Wei Zhao ◽

Lei Li

Keyword(s):

Collision Detection ◽

Detection Algorithms

Download Full-text

Temporally Consistent Simulation of Robots and Their Controllers

Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control ◽

10.1115/detc2014-35609 ◽

2014 ◽

Cited By ~ 1

Author(s):

James R. Taylor ◽

Evan M. Drumwright ◽

Gabriel Parmer

Keyword(s):

Real Time ◽

Collision Detection ◽

Robot Control ◽

Status Quo ◽

Robot Dynamics ◽

Control Software ◽

Physical Systems ◽

Detection Algorithms ◽

Simulation Based ◽

The Status

Researchers simulate robot dynamics to optimize gains, trajectories, and controls and to validate proper robot operation. In this paper, we focus on this latter application, which allows roboticists to verify that robots do not damage themselves, the environments they are situated within, or humans. In current simulations, robot control code runs in lockstep with the dynamics integration. This design can result in code that appears viable in simulation but runs too slowly on physical systems. Addressing this problem requires overcoming significant challenges that arise due both to the speed of dynamic simulation running time (simulations may run 1/10 or 1/100 of real-time or slower) and to the variability of the running times (e.g., the speed of collision detection algorithms depends on pairwise object proximities). These difficulties imply that one must not only slow the control software but also scale controller running speeds dynamically. We describe the numerous architectural and OS-level technical challenges that we have overcome to yield temporally consistent simulation for modeling robots that use only real-time processes, and we show that our system is superior to the status quo using simulation-based experiments.

Download Full-text

A Surface Mass-Spring Model With New Flexion Springs and Collision Detection Algorithms Based on Volume Structure for Real-Time Soft-Tissue Deformation Interaction

IEEE Access ◽

10.1109/access.2018.2883679 ◽

2018 ◽

Vol 6 ◽

pp. 75572-75597 ◽

Cited By ~ 2

Author(s):

Chunquan Li ◽

Jiajun Ding ◽

Zhichao Hong ◽

Yucheng Pan ◽

Peter X. Liu

Keyword(s):

Soft Tissue ◽

Real Time ◽

Collision Detection ◽

Spring Model ◽

Soft Tissue Deformation ◽

Surface Mass ◽

Detection Algorithms ◽

Mass Spring Model ◽

Deformation Interaction ◽

Mass Spring

Download Full-text

Insideness and collision detection algorithms

2008 Tyrrhenian International Workshop on Digital Communications - Enhanced Surveillance of Aircraft and Vehicles ◽

10.1109/tiwdc.2008.4649051 ◽

2008 ◽

Cited By ~ 2

Author(s):

Adolf Mathias ◽

Ulf Kanther ◽

Ralf Heidger

Keyword(s):

Collision Detection ◽

Detection Algorithms

Download Full-text

Collision detection algorithms for motion planning

Lecture Notes in Control and Information Sciences - Robot Motion Planning and Control ◽

10.1007/bfb0036075 ◽

2006 ◽

pp. 305-343 ◽

Cited By ~ 20

Author(s):

P. Jiménez ◽

F. Thomas ◽

C. Torras

Keyword(s):

Motion Planning ◽

Collision Detection ◽

Detection Algorithms

Download Full-text

Collision Detection Algorithm of Belt Grinding of the Blisk Based on Improved Octree Segmentation Method

10.21203/rs.3.rs-582123/v1 ◽

2021 ◽

Author(s):

Zhi Huang ◽

Xing Yang ◽

Jie Min ◽

Hongyan Wang ◽

Pengxuan Wei

Keyword(s):

Collision Detection ◽

Clustering Algorithm ◽

Detection Algorithm ◽

Segmentation Method ◽

Belt Grinding ◽

Detection Model ◽

Detection Algorithms ◽

Bladed Disk ◽

Abrasive Belt ◽

Algorithm Verification

Abstract In the process of belt grinding aero-engine Blisk(Bladed Disk), the abrasive belt can easily interfere with the Blisk, which will damage the valuable Blisk. Therefore, it is indispensable and significant to study the collision detection of belt grinding the Blisk. However, the application of traditional collision detection algorithms in this complicated realistic scene is difficult to obtain satisfactory results. In order to improve the accuracy and efficiency of the collision detection of grinding the Blisk, a collision detection algorithm based on the improved octree segmentation method is proposed in this paper. Firstly, the Oriented Bounding Box (OBB) is applied to establish the collision detection model for the abrasive belt. Secondly, the traditional octree segmentation method is optimized based on the k-means clustering algorithm, and an improved octree segmentation method is presented, in addition, the flow chart of the collision detection algorithm for belt grinding of the Bliskis given. Finally, algorithm verification and experimental verification are carried out based on a certain type of the Blisk. The results suggest that compared with the traditional method, the method in this paper not only promotes the accuracy of collision detection, but also promotes the efficiency of collision detection, and meets the requirements of object collision detection in this tanglesome scene with both accuracy and speed.

Download Full-text

Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

Applied Bionics and Biomechanics ◽

10.1155/2007/181272 ◽

2007 ◽

Vol 4 (4) ◽

pp. 157-168

Author(s):

Juan Manuel Ibarra-Zannatha ◽

Claudia Marmolejo-Rivas ◽

Manuel Ferre-Pérez ◽

Rafael Aracil-Santonja ◽

Salvador Cobos-Guzmán

Keyword(s):

Virtual Environment ◽

Collision Detection ◽

Control Algorithm ◽

Haptic Device ◽

Deformable Objects ◽

Bilateral Teleoperation ◽

Bilateral Control ◽

Deformable Object ◽

Detection Algorithms ◽

Teleoperation System

The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

Download Full-text