| 引用本文: | 居鹤华,冷舒.利用虚拟传感器的巡视器机械臂碰撞检测算法[J].哈尔滨工业大学学报,2016,48(1):58.DOI:10.11918/j.issn.0367-6234.2016.01.009 |
| Jü Hehua,LENG Shu.A collide detection algorithm based on virtual sensors of lunar rover manipulator[J].Journal of Harbin Institute of Technology,2016,48(1):58.DOI:10.11918/j.issn.0367-6234.2016.01.009 |
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| 摘要: |
| 为提高传统AABB树碰撞检测的精度和效率，提出一种基于虚拟传感器的月面巡视器机械臂碰撞检测算法.建立月面巡视器机械臂的逆运动学解算模型；对地面环境点云数据进行Delaunay三角化，采用多叉树代替二叉树作为AABB树储存环境点云三角面集；利用虚拟传感器简化巡视器机械臂结构模型，通过虚拟传感器遍历AABB树中的环境点云三角面集进行碰撞检测，避免机械臂与环境发生干涉.月面巡视器就位探测任务内场实验表明：基于虚拟传感器的月面巡视器碰撞检测算法使碰撞检测精度在1 mm内，碰撞检测时间降低至10 s内.基于虚拟传感器的碰撞检测算法具有高效性和可行性.
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| 关键词: 月面巡视器 机械臂 Delaunay三角化 虚拟传感器 AABB树 碰撞检测 |
| DOI：10.11918/j.issn.0367-6234.2016.01.009 |
| 分类号:TP241 |
| 文献标识码:A |
| 基金项目:国家自然科学基金(10002011200902). |
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| A collide detection algorithm based on virtual sensors of lunar rover manipulator |
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Jü Hehua, LENG Shu
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(Research Center of Deepspace Robot, Beijing University of Technology, 100022 Beijing,China)
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| Abstract: |
| To improve the accuracy and efficiency of classic AABB collide detection, An algorithm of the virtual sensors which is applied to the domain of Rover manipulator collide detection is proposes. At first, the inverse kinematics model of rover manipulator is established. Secondly, lunar terrain point cloud data is triangulated by Delaunay triangulation method, the triangulation face set is then stored in the leaf nodes of a multiple tree (AABB tree). In the end, the rover manipulator model is simplified by virtual sensors. By utilizing the virtual sensors to traverse the face set stored in the multiple tree, manipulator/lunar terrain collision are detected and avoided. The inner-yard experiment of lunar rover in-situ exploration task show that the accuracy of the collide detection increased to within 1mm and the time of collide detection decreased to 10 s by the algorithm proposed. The feasibility and efficiency of the collide detection algorithm is justified.
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| Key words: lunar rover manipulator delaunay triangulation virtual sensors AABB tree collide detection |
