| Summary: | 碩士 === 國立臺灣科技大學 === 資訊工程系 === 98 === Collision problem is one of the most vital issues that determine if robots could operate correctly and safely. Nowadays, pre-simulation has been wildly used in robot motion design and development. Hence, it is worthwhile to study on how to make the simulator responses the collision situation more accurate and offer more complete functionality.
This research is based on Open Dynamic Engine, one of the most famous and popular open source simulator for rigid body physics. To improve the basic collision detection functions equipped in ODE, we add a new simulation method, Line-Swept Sphere, in order to provide bounding volume which is, in some cases, more close to the geometry shape of objects. LSS has the advantages of directional and simple representation. Furthermore, we propose an improved collision detection method based on this work. For geometric objects with different shapes, the bounding volumes with smaller size are chosen to contain them separately. According to the results of experiment, we confirmed that this proposed method improves the accuracy of collision detection result.
Additionally, we developed a module to predict the collision time via calculating future trajectories of the moving objects. A simple experiment is performed to verify correctness of the predicted collision time. This experiment also illustrates a possible application of this prediction.
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