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A collision detection approach in virtual environment of micromanipulation robot

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High Technology Letters 2005年第4期11卷 371-376页

作者：孙立宁 Tan Fusheng Rong Weibin Zhu Jiang Robotics Institute Harbin Institute of Technology Harbin 150001 P. R. China

Operators suffer much diffieulty in manipulating miero-size objects without the assistance of friendly interfaces due to the scaling effects in micro worht. The paper presented a general framework for mieromanipulation robot hased on virtual reality technology. With the framework we brought forward a FDH （Fixed Direction Hulls） based hounding box method to handle the eollision ,teteetion of the peg-in-hole mieroassembly. The eollision response model for the collision between micro needle and hole was presented. The virtual three and corresponding displacement were calculated with the model of bending deformation and pressing ,teformation. Experiments verify the validity of collision response model.

关键词： micromanipulation virtual reality microassembly collision detection collision response

Controlling the contact levels of details for fast and precise haptic collision detection

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Frontiers of Information Technology & Electronic Engineering 2017年第8期18卷 1117-1130页

作者： A Ram CHOI Sung Min KIM Mee Young SUNG Department of Computer Science and Engineering lncheon National University lncheon Korea

For accurate and stable haptic rendering, collision detection for interactive haptic applications has to be done by filling in or covering target objects as tightly as possible with bounding volumes （spheres, axis-aligned bounding boxes, oriented bounding boxes, or polytopes）. In this paper, we propose a method for creating bounding spheres with respect to the contact levels of details （CLOD）, which can fit objects while maintaining the balance between high speed and precision of collision detection. Our method is composed mainly of two parts： bounding sphere formation and two-level collision detection. To specify further, bounding sphere formation can be divided into two steps： creating spheres and clustering spheres. Two-level collision detection has two stages as well： fast detection of spheres and precise detection in spheres. First, bounding spheres are created for initial fast probing to detect collisions of spheres. Once a collision is probed, a more precise detection is executed by examining the distance between a haptie pointer and each mesh inside the colliding boundaries. To achieve this refmed level of detection, a special data structure of a bounding volume needs to be defined to include all mesh information in the sphere. After performing a number of experiments to examine the usefulness and performance of our method, we have concluded that our algorithm is fast and precise enough for haptic simulations. The high speed detection is achieved through the clustering of spheres, while detection precision is realized by voxel-based direct collision detection. Our method retains its originality through the CLOD by distance-based clustering.

关键词： collision detection Haptic rendering Bounding sphere Clustering Contact levels of details (CLOD)

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 *** 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 *** that,exact collision detection between two objects which have passed the broad-phase of collision detection is *** algorithm makes no assumption about input primitives or object’s motion and is directly applicable to all triangulated *** can be applicable to both rigid and deformable objects without *** 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

Using LBG quantization for particle-based collision detection algorithm

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2006年第7期7卷 1225-1232页

作者： SAENGHAENGTHAM Nida KANONGCHAIYOS Pizzanu Department of Computer Engineering Faculty of Engineering Chulalongkorn University Thailand

Most collision detection algorithms can be efficiently used only with solid and rigid objects, for instance, Hierarchical methods which must have their bounding representation recalculated every time deformation occurs. An alternative algorithm using particle-based method is then proposed which can detect the collision among non-rigid deformable polygonal models. However, the original particle-based collision detection algorithm might not be sufficient enough in some situations due to the improper particle dispersion. Therefore, this research presents an improved algorithm which provides a particle to detect in each separated area so that particles always covered all over the object. The surface partitioning can be efficiently performed by using LBG quantization since it can classify object vertices into several groups base on a number of factors as required. A particle is then assigned to move between vertices in a group by the attractive forces received from other particles on neighbouring objects. collision is detected when the distance between a pair of corresponding particles becomes very small. Lastly, the proposed algo- rithm has been implemented to show that collision detection can be conducted in real-time.

关键词： collision detection Deformable object Particle LBG Vector quantization

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 *** a parallel GPU approach,we designed a tomato plant population collision detection program with CUDA *** 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 *** of the most difficult aspects of particle systems has been detecting collisions between particles and mesh *** to the huge computation,a variety of proxy-based approaches have been proposed recently to perform visually correct ***,all either limit the complexity of the scene,fail to guarantee non-penetration,or are too slow for real-time use with many *** this paper,we propose a new octree-based proxy for colliding particles with meshes on the *** 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 *** 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 *** 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 *** 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

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 *** is widely used in military reconnaissance,aerial photography,searches,and other fields;it also has very good practical-application and development *** the UAV’s flight orientation is easily changeable,its orientation and flight path are difficult to control,leading to its high damage ***,UAV flight-control technology has become the focus of *** study focuses on simulating a UAV’s flight and orientation control,and detecting collisions between a UAV and objects in a complex virtual *** 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 *** 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

A Rapid Path Planner for Autonomous Ground Vehicle Using Section collision detection

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Journal of Shanghai Jiaotong university(Science) 2009年第3期14卷 306-309页

作者：冷哲董敏周董刚奇闫杰 School of Astronautics Northwestern Polytechnical University

Rapid path planner plays an important role in autonomous ground vehicle （AGV） operation. Depending on the non-holonomic kinematics constraints of AGV, its path planning problem is discussed. Since rapidly-exploring random tree （RRT） can directly take non-holonomic constraints into consideration, it is selected to solve this problem. By applying extra constraints on the movement, the generation of new configuration in RRT algorithm is simplified and accelerated. With section collision detection method applied, collision detection within the planer becomes more accurate and efficient. Then a new path planner is developed. This method complies with the non-holonomic constraints, avoids obstacles effectively and can be rapidly carried out while the vehicle is running. Simulation shows that this path planner can complete path planning in less than 0.5 s for a 170 mx 170 m area with moderate obstacle complexity.

关键词： autonomous ground vehicle (AGV) non-holonomic constraints rapidly-exploring random tree (RRT) path planning collision detection

collision detection for a Kind of Haptic Interface

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Collision Detection for a Kind of Haptic Interface