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Fast and accurate collision detection based on enclosed ellipsoid

Published online by Cambridge University Press:  05 July 2001

Ming-Yi Ju ,
Ming-Yi Ju ,
Jing-Sin Liu ,
Shen-Po Shiang ,
Yuh-Ren Chien ,
Kao-Shing Hwang  and
Wan-Chi Lee
Ming-Yi Ju
Affiliation:
Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)[email protected] Department of Electrical Engineering, National Chung Cheng University, Chiayi 160, Taiwan (R.O.C.)
Ming-Yi Ju
Affiliation:
Department of Electrical Engineering, National Chung Cheng University, Chiayi 160, Taiwan (R.O.C.)
Jing-Sin Liu
Affiliation:
Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)[email protected]
Shen-Po Shiang
Affiliation:
Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)[email protected]
Yuh-Ren Chien
Affiliation:
Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)[email protected]
Kao-Shing Hwang
Affiliation:
Department of Electrical Engineering, National Chung Cheng University, Chiayi 160, Taiwan (R.O.C.)
Wan-Chi Lee
Affiliation:
Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)[email protected]
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Abstract

A fast and accurate method for detecting the collisions of convex polyhedra in a graphical simulation environment based on a newly developed method of distance estimate is presented. By the simultaneous use of the enclosing and the enclosed ellipsoids of convex polyhedra, potential collisions can be detected more accurate than those methods using only bounding volume for object representation, and more efficient than the polyhedral methods. An approach for computing the enclosed ellipsoid of a convex polyhedron by compressing, stretching and scaling operations on its best-fit enclosing ellipsoid is introduced. Graphical simulations of two case studies (moving polyhedral objects in three-dimensional space and multiple robot arms undergoing straight line motions) are conducted to demonstrate the accuracy of the proposed algorithm for collision detection.

Keywords

Distance estimateCollision detectionEllipsoidBounding volume representation
Type
Research Article
Information
Robotica , Volume 19 , Issue 4 , July 2001 , pp. 381 - 394
Copyright
© 2001 Cambridge University Press

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