Web3D机器人仿真平台中的轻量级碰撞检测算法

2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW) Pub Date : 2022-03-01 DOI:10.1109/VRW55335.2022.00027

Weiqiang Wang, Hantao Zhao, Jinyuan Jia

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引用次数: 0

摘要

在机器人工业领域，传统的机器人仿真平台要求用户安装特定的软件，并配备高性能计算机。本文设计了一种轻量级的碰撞检测算法，该算法能够在具有新型仿真平台的类人机器人的web浏览器上顺利运行。该算法基于边界体层次的Morton代码，采用三角形补丁检测算法提高检测精度。通过该方法，我们可以使用该平台在任何支持浏览器的设备上编辑机器人，而无需安装额外的插件。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Lightweight Collision Detection Algorithm in Web3D Robot Simulation Platform

In the field of the robotic industry, traditional robot simulation platforms require users to install specific software and to be equipped with high-performance computers. This paper designs a lightweight collision detection algorithm that is able to run smoothly from a web browser with a novel simulation platform for a humanoid robot. The proposed algorithm is based on the Morton code for bounding volume hierarchies, which uses the triangular patches detection algorithm to improve the accuracy of detection. Through the presented method, we can use the platform to edit the robot on any browser supporting device without installing extra plug-ins.

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来源期刊

2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW)

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