Dynamic Collision Detection Research Articles

Dynamic clothing collision resolution using PSO

This paper presents a novel stochastic method for dynamic clothing simulation and collision detection by using a Particle Swarm Optimisation (PSO) algorithm. Firstly, we convert the collision detection problem to a multi-objective dynamic environment optimisation problem. Then, we use a density-based clustering PSO to find optimal or near-optimal solutions. During the searching process, we also put forward a restrictive fly algorithm to prevent particles from flying out of the solution space. Experimental results demonstrate that PSO has good performances in our optimisation problem. Besides, with active pair searching and Bounding Volume Hierarchies (BVHs), our method can achieve high detection ratio and balanced performances at interactive rates.

Impact Force Reduction of Manipulators Using a Dynamic Acceleration Polytope and Flexible Collision Detection Sensor

A collision between a physical service manipulator and a human being generally generates massive impact force, which can cause injury and limit the operation speed of the maipulator. This paper develops an effective impact force reduction method that combines an optimal braking method, i.e., dynamic acceleration polytope braking (DAPB), and a flexible collision detection sensor, i.e., air pressure collision detection sensor (APCS). DAPB calculates the maximum braking torque using a dynamic acceleration polytope that represents the acceleration ability of a manipulator, including a redundant one, and decelerates impact velocity quickly whitin the range of torque limits. The APCS consists of a flexible tube and a pressure sensor, and can detect collisions quickly by measuring an air pressure wave. It provides a shock absorber function and sufficient time for the braking. Combining DAPB and APCS can effectively reduce the impact force due to the collision of a manipulator. Several simulations and experiments are performed to confirm the effectiveness of the proposed method, and a 28% impact force reduction was confirmed by a collision experiment, compared with that of conventional braking methods.

Velocity-Aligned Discrete Oriented Polytopes for Dynamic Collision Detection

We propose an acceleration scheme for many-body dynamic collision detection at interactive rates. We use the Velocity-Aligned Discrete Oriented Politope (VADOP), a tight bounding volume representation that offers fast update rates and which is particularly suitable for applications with many fast-moving objects. The axes selection that determines the shape of our bounding volumes is based on spherical coverings. We demonstrate that we can robustly detect collisions that are missed by pseudo-dynamic collision detection schemes, with even greater performance due to substantial collision pruning by our bounding volumes.

Kinetic sweep and prune for multi-body continuous motion

We propose an acceleration scheme for real-time many-body dynamic collision detection. We kinetize the sweep and prune method for many-body collision pruning, extending its application to dynamic collision detection via kinetic data structures. In doing so, we modify the method from sample-rate-driven to event-driven, with no more events than the original method processed, also removing the per-frame overhead, allowing our method to scale optimally in terms of frame-rates. Unlike many schemes for many-body collision pruning, ours performs well in both sparse and dense environments, with few or many collisions.

Construction of feature-matching perception in virtual assembly

An important characteristic of virtual assembly is interaction. Traditional direct manipulation in virtual assembly relies on dynamic collision detection, which is very time-consuming and even impossible in desktop virtual assembly environment. Feature-matching is a critical process in harmonious virtual assembly, and is the premise of assembly constraint sensing. This paper puts forward an active object-based feature-matching perception mechanism and a feature-matching interactive computing process, both of which make the direct manipulation in virtual assembly break away from collision detection. They also help to enhance virtual environment understandability of user intention and promote interaction performance. Experimental results show that this perception mechanism can ensure that users achieve real-time direct manipulation in desktop virtual environment.

A survey of techniques for simulation of dynamic collision detection and response

When several objects are moved about using computer simulation, there is a chance that these objects will collide with each other, which in turn may result in effecting further change in the movement. The two main issues involved are those of detecting that a collision has occurred and then subsequently depicting a response as an effect of collision. Typically the collision detection is a geometric interference problem that depends on the spatial relationship of objects while collision response is a dynamics problem which involves predicting behavior according to physical laws. In this paper we discuss collision detection and response in general and survey several of the more important solutions proposed and currently in use.

Collision detection in the robot simulation system SMART

All over the world there exist several simulation systems, of varying degrees of sophistication, for robot working cells. These systems can also perform respective operations for the analysis of situations in the robot work cell, such as output of the actual parameters of all joints of the robot, graphic/display options and collision detection algorithms. A systematic analysis of existing robot simulation systems showed that only a very few of them are able to perform a collision test. Although, in the field of computational geometry and computer algebra, there exist several approaches for doing collision checks, most of them seem to be not at a stage at which they can be really implemented or efficiently used. In this paper we describe algorithms for static and dynamic collision detection, and its implementations in the frame of the robot simulation system SMART.

Computer-aided off-line planning of robot motion

This paper describes a microcomputer interactive package for computer-aided off-line planning of robot motion. The package includes interactive construction of 3D graphic models kinematic and dynamic simulation, motion planning, collision detection and image animation and provides a text output file of the robot program. The robot controller can accept the text output from software system, transporting the robot program from IBM PC-AT to the robot control, and executing the robot program. The project of off-line planning of a PT-300V Robot using this system was successfully completed. Real-time collisions of 3D geometric models can be detected by using J-function defining by us. The software system was carried out on an IBM PC-AT under DOS in the PASCAL implementation language.

Task assignment and load balancing of autonomous vehicles in a flexible manufacturing system

A graph-theoretic approach for determining an optimal task (or routing) assignment of p autonomous vehicles (AV's) among m workstations in a flexible manufacturing system which both minimizes the assignment completion time and balances the load among the AV's is presented. This task assignment problem is equivalent to an optimal routing assignmenl of destinating the m workstations to the p autonomous vehicles. A cost function is defined in terms of the job execution time and the traveling time performed by the AV's. Optimization of the objective function is based on the minimax of the job execution time and the minimization of max-min of the traveling time. This optimal task assignment problem is known to be NP-complete. Thus the problem is solved by a state-space search method-the A algorithm. The A algorithm is a classical minimum-cost graph search method. It is guaranteed to find an optimal solution if the evaluation function which utilizes the heuristic information about the problem for speeding up the search is properly defined. If potential collisions exist on the optimal routing assignment, then dynamic collision detection must be carried out during the state-space search to guarantee an optimal collision-free routing assignment. This collision avoidance can be taken care of by using an ordered collision matrix to adjust the arrival time of every AV arriving at the center of the "collision zone" if a potential collision is detected. Again, the A search strategy can be utilized to obtain an optimal collision-free routing assignment, and the optimal assignment obtained also achieves load balancing of the p AV's.