The Interactive Collision Detection Method For Multi-robot Operation System And Simulation Implement

With the development of multi-robot technology, the technology about multi-robot simulation has got more attention no matter in academia or industry area. However, with the growing of the scale and the complexity of simulation scene about multi-robot simulation system, there is more challenge about the accuracy and efficiency of the collision detection algorithm. In order to improve the reality of multi-robot cooperative interactive simulation system, and enhance the user experience, at the same time, examine the validity of the specific programs and processes and improve the efficiency of the robot simulation system, the traditional collision detection algorithm has been difficult to achieve accurate for high precision mechanical, and especially the fast collision detection in large-scale simulation scene.The current popular simulation collision detection system is based on multi-space segmentation or bounding box collision detection method based on. But the collision detection method based on space division prone to missed, and collision detection method based on the bounding box and is very prone been seized, so relatively low collision detection accuracy. In addition, the current method of collision detection efficiency in large and complex scenes are relatively low. Based on this, this paper proposes a method based on object collision detection feature map, and then connect the dots formed by the feature point extraction surface characteristics of the object model diagram, and then close the object surrounded by the edge feature maps to do collision detection. Meanwhile, an adaptive method for acceleration of collision detection, collision detection using a mask to quickly eliminate the need to detect objects, thus speeding up the efficiency of collision detection.Through the study of multi-robot cooperative interactive collision detection method, in the process of multi-robot simulation system, we completed a multi-robot collaboration interactive simulation, and testing based on the collision object collision detection feature map algorithm and adaptive detecting acceleration methods such collision detection algorithm in complex large-scale complex scene can be more efficient operation, and more accurate detection of a collision between objects, reducing over-detection and missing rate. Combined with the actual multi-robot systems, the use of multi-robot simulation system to achieve rapid development for real multi-robot systems.