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为了高效地建立无碰撞路径地图,针对如何在构型空间中构建无碰撞线性图元的问题,提出了自适应连续碰撞的检测算法.该算法在对线性图元进行连续碰撞检测之前,通过对比同一构型下两物体间欧氏距离的最小值及不同构型下物体最大移动距离的关系,来决定是否对线性图元采取二等分分割的细分检测,有效地减少了冗余的碰撞检测次数,提高地图构建效率.利用高维机器人系统进行仿真验证,在给定机器人起始和终止构型的情况下规划出无碰撞路径,所提的自适应碰撞检测算法相比于固定检测精度的方法的计算效率提高25.1%~84.1%.
In order to build a collision-free path map efficiently, this paper proposes an adaptive collision detection algorithm based on how to construct collision-free linear primitives in the configuration space.This algorithm, before performing continuous collision detection on linear primitives, The relationship between the minimum Euclidean distance between two objects in the same configuration and the maximum moving distance of objects under different configurations determines whether the subdivision detection of linear primitives is implemented using binary segmentation and effectively reduces redundant collisions Detection times and improve the efficiency of map construction.Using high-dimensional robot system to simulate and verify the collision-free path planning given the initial and final configuration of the robot, the proposed adaptive collision detection algorithm compared to the fixed detection accuracy The computational efficiency of the method is improved by 25.1% ~ 84.1%.