オクトツリーを用いた高速干渉チェック法
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概要
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A fast and general interference check algorithm which does not depend on the complexity of shape of an environment for a robot but on the distance between the robot and its nearest obstacle in the environment is proposed, which is based on the adoption of B-reps. as a model of the robot and octree as a model of the environment.<BR>The octree is a natural hierarchical solid model that can change the resolution in positioning adaptively in reference to a region in the world space and is adequate to the environment model. Further, the B-reps. can represent easily a complex motion including rotation of an object by every time updating its coordinates table and is adequate to the robot model.<BR>The algorithm consists of a basic process that assigns efficiently a patch of the B-reps. within a region to eight subregions when the region is divided into them. Then, this division is guided by the hierarchical structure in positioning of the octree. With the aid of both information for a region induced by the assignment and spatial information inherent in the region, the algorithm can fastly select only regions that intersect simultaneously two models.<BR>From this selection, it follows that the interference check algorithm deals with only parts of obstacles which lie around the robot model and its computational complexity does not depend on the complexity of shape of the environment model<BR>Finally, the computational complexity of the algorithm is evaluated, and the reasonableness of the evaluation and the efficiency of the algorithm are further ascertained by several experiments.
- 一般社団法人 日本ロボット学会の論文
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