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| Collision Detection and Optimization of Dual-Arm Mobile Robot Based on Node Tree of VRML |
| LIU Zhong, CAO Qi-Xin, ZHU Xiao-Xiao, WANG Wen-Shan |
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Abstract A large number of non-convex models exist in three-dimensional simulation environment for dual-arm mobile robots, it is impossible to realize accurate real-time collision detection. This paper proposed a method to implement convex decomposition of non-convex models based on node tree of VRML. Pass vertexes returned by convex decomposition to Quickhull algorithm to create convex polyhedron that used for V-Clip collision detection algorithm to realize accurate real-time collision detection. In order to improve the efficiency of collision detection to enhance real-time simulation, bounding box is used. The results show that this method can make real-time collision detection and has great precision.
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Received: 06 September 2010
Published: 29 July 2011
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