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Simulating unmanned aerial vehicle flight control and collision detection

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Visual Computing for Industry,Biomedicine,and Art 2019年第1期2卷 38-44页

作者： Mengtian Liu Meng Gai Shunnan Lai Peking University Shenzhen Graduate School Shenzhen 518055China School of EECS Peking UniversityBeijing 100871China Beijing Engineering Technology Research Center of Virtual Simulation and Visualization(Peking University) Beijing 100871China

An unmanned aerial vehicle(UAV)is a small,fast aircraft with many useful features.It is widely used in military reconnaissance,aerial photography,searches,and other fields;it also has very good practical-application and development prospects.Since the UAV’s flight orientation is easily changeable,its orientation and flight path are difficult to control,leading to its high damage rate.Therefore,UAV flight-control technology has become the focus of attention.This study focuses on simulating a UAV’s flight and orientation control,and detecting collisions between a UAV and objects in a complex virtual environment.The proportional-integral-derivative control algorithm is used to control the orientation and position of the UAV in a virtual environment.A version of the bounding-box method that combines a grid with a k-dimensional tree is adopted in this paper,to improve the system performance and accelerate the collision-detection process.This provides a practical method for future studies on UAV flight position and orientation control,collision detection,etc.

关键词： Unmanned aerial vehicle Proportional-integral-derivative control algorithm Orientation control Position control Grid k-dimensional tree collision detection

Graph neural network based method for robot path planning

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Biomimetic Intelligence & Robotics 2024年第1期4卷 80-87页

作者： Xingrong Diao Wenzheng Chi Jiankun Wang Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical EngineeringSouthern University of Science and TechnologyShenzhen 518055China Robotics and Microsystems Center School of Mechanical and Electric EngineeringSoochow UniversitySuzhou 215021China Jiaxing Research Institute Southern University of Science and TechnologyJiaxing 314000China

Sampling-based path planning is widely used in robotics,particularly in high-dimensional state spaces.In the path planning process,collision detection is the most time-consuming operation.Therefore,we propose a learning-based path planning method that reduces the number of collision checks.We develop an efficient neural network model based on graph neural networks.The model outputs weights for each neighbor based on the obstacle,searched path,and random geometric graph,which are used to guide the planner in avoiding obstacles.We evaluate the efficiency of the proposed path planning method through simulated random worlds and real-world experiments.The results demonstrate that the proposed method significantly reduces the number of collision checks and improves the path planning speed in high-dimensional environments.

关键词： Graph Neural Network(GNN) collision detection Sampling-based path planning

VGIS-COLLIDE:an effective collision detection algorithm for multiple objects in virtual geographic information system

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International Journal of Digital Earth 2011年第1期4卷 65-77页

作者： Feixiong Luo Ershun Zhong Junlai Cheng Yuefeng Huang State Key Lab of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijingChina

collision detection is an important component in simulation applications which are based on virtual geographic information system(VGIS).In this paper,an effective collision detection algorithm for multiple objects in VGIS,VGISCOLLIDE,is presented.The algorithm firstly integrates existing quadtree,which is the global hierarchical structure of VGIS,with axis-aligned bounding box of object to perform the broad-phase of collision detection.After that,exact collision detection between two objects which have passed the broad-phase of collision detection is performed.The algorithm makes no assumption about input primitives or object’s motion and is directly applicable to all triangulated models.It can be applicable to both rigid and deformable objects without preprocessing.The performance of the algorithm has been demonstrated in several environments consisting of a high number of objects with hundreds of thousands of triangles.

关键词： collision detection multiple objects quadtree VGIS

LSDA-APF:A Local Obstacle Avoidance Algorithm for Unmanned Surface Vehicles Based on 5G Communication Environment

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工程与科学中的计算机建模(英文) 2024年第1期138卷 595-617页

作者： Xiaoli Li Tongtong Jiao Jinfeng Ma Dongxing Duan Shengbin Liang School of Software Henan UniversityKaifeng475004China

In view of the complex marine environment of navigation,especially in the case of multiple static and dynamic obstacles,the traditional obstacle avoidance algorithms applied to unmanned surface vehicles(USV)are prone to fall into the trap of local optimization.Therefore,this paper proposes an improved artificial potential field(APF)algorithm,which uses 5G communication technology to communicate between the USV and the control center.The algorithm introduces the USV discrimination mechanism to avoid the USV falling into local optimization when the USV encounter different obstacles in different scenarios.Considering the various scenarios between the USV and other dynamic obstacles such as vessels in the process of performing tasks,the algorithm introduces the concept of dynamic artificial potential field.For the multiple obstacles encountered in the process of USV sailing,based on the International Regulations for Preventing collisions at Sea(COLREGS),the USV determines whether the next step will fall into local optimization through the discriminationmechanism.The local potential field of the USV will dynamically adjust,and the reverse virtual gravitational potential field will be added to prevent it from falling into the local optimization and avoid collisions.The objective function and cost function are designed at the same time,so that the USV can smoothly switch between the global path and the local obstacle avoidance.The simulation results show that the improved APF algorithm proposed in this paper can successfully avoid various obstacles in the complex marine environment,and take navigation time and economic cost into account.

关键词： Unmanned surface vehicles local obstacle avoidance algorithm artificial potential field algorithm path planning collision detection

New collision detection method for simulating virtual plant populations

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International Journal of Agricultural and Biological Engineering 2019年第6期12卷 156-161页

作者： Weilong Ding Zangxin Wan Yan Xu Nelson Max College of Computer Science&Technology Zhejiang University of TechnologyHangzhou 310026China Department of Computer Science University of CaliforniaDavis95616USA

Detecting and resolving the collision of organs between different plants or the collision of different organs of a single plant are key issues in the realistic construction of a virtual plant population.A suitable collision detection scheme is necessary to prevent a reduction in realism caused by organ penetration.A mixed bounding volume tree construction scheme based on the growth characteristics of tomato plants is proposed in this paper,and the construction mode of the bounding at all levels is simplified by using a digital tomato model.Using a parallel GPU approach,we designed a tomato plant population collision detection program with CUDA acceleration.The proposed method reduces the total collision detection time by 92%-96%.

关键词： plant simulation collision detection bounding volume GPU processing

An octree-based proxy for collision detection in large-scale particle systems

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Science China(Information Sciences) 2013年第1期56卷 55-64页

作者： FAN WenShan WANG Bin PAUL Jean-Claude SUN JiaGuang School of Software Tsinghua University Beijing Aerospace Control Center Department of Computer Science and Technology Tsinghua University Key Laboratory for Information System Security Ministry of Education of China Tsinghua National Laboratory for Information Science and Technology Institut National de Recherche en Informatique et en Automatique(INRIA)

Particle systems are important building block for simulating vivid and detail-rich effects in virtual world.One of the most difficult aspects of particle systems has been detecting collisions between particles and mesh surface.Due to the huge computation,a variety of proxy-based approaches have been proposed recently to perform visually correct simulation.However,all either limit the complexity of the scene,fail to guarantee non-penetration,or are too slow for real-time use with many particles.In this paper,we propose a new octree-based proxy for colliding particles with meshes on the GPU.Our approach works by subdividing the scene mesh with an octree in which each leaf node associates with a representative normal corresponding to the normals of the triangles that intersect the node.We present a view-visible method,which is suitable for both closed and non-closed models,to label the empty leaf nodes adjacent to nonempty ones with appropriate back/front property,allowing particles to collide with both sides of the scene mesh.We show how collisions can be performed robustly on this proxy structure in place of the original mesh,and describe an extension that allows for fast traversal of the octree structure on the GPU.The experiments show that the proposed method is fast enough for real-time performance with millions of particles interacting with complex scenes.

关键词： particle systems collision detection octree-based proxy GPU

collision detection AMONG MOVING OBJECTSIN MACHINING PROCESS SIMULATION

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Computer Aided Drafting,Design and Manufacturing 1994年第1期4卷 20-27页

作者： Yang Heming Lu Ansheng Zhou Ji

This paper describes an algorithm of collision detection between moving objects in machin-ing process simulation. Graphical simulation of machining has been recognized to be useful for NCprogram verification , since the programmer of the machining operator can easily find some faults inthe NC program visually. But it is difficult to visually detect collisions arnong moving objects such ascutting tools , workpieces and fixtures, a data structure to represent moving objects and an algorithmof collision detection between moving objects are proposed. A moving object can be represented by ahierarchical sphere octree and its motion can be described by a quadratic function of time. A collisionoccurs in the case that the distance between any two sphere centers in the respective two moving ob-jects is equal to the sum of the radii of these two spheres, and the radii of these two spheres are lessthan a given precision. By solving the equations that satisfy the conditions of collision between thespheres recursively , we obtain the time and the position of the collision between these two moving ob-Jects.

关键词： machining simulation collision detection moving object

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A Linear Algorithm for collision detection of 3-Dimensional Convex Polytopes

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Computer Aided Drafting,Design and Manufacturing 2000年第1期10卷 17-23页

作者： Liu Jinyi (Department of Computer Science & Technology, Fushun Petroleum Institue, Fushun. 113001)

Given two disjoint 3-dimensional convex polytopes P and Q and a straight direction along Which P moves in translation, this paper presents a linear algorithm for determining Whether P collides with Q, and the possible collision positions on P and Q. This result is achieved by using the hierarchicat representation of polytopes, of which the preprocessing time is linear with space.

关键词： convex polytope collision detection algorithm

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The collision detection Algorithm Based on The Combination of Two-Dimensional and Dynamic Octree

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The Collision Detection Algorithm Based on The Combination o...