Object collision detection apparatus

Details Object collision detection apparatus Object collision detection apparatus

G - Physics

05

B

354/1

G05B 19/4061 (2006.01) B25J 9/16 (2006.01)

Patent

CA 1282174

AN OBJECT COLLISION DETECTION APPARATUS Abstract A technique is provided wherein potential collision between moving objects is detected by recursively repeating judgement of the condition determining collision and division of a trajectory into two parts. The complexity of a trajectory is considered, causing increase in the extent of calculation along with increase in the complexity of a shape. Consequently, a potential collision can be efficiently detected. The degree of calculation corresponds to the required "accuracy of solution" and also to the "possibility of collision". No unnecessary calculations are performed. In a case where great accuracy is not required, the shape of an object may be approximated as a set of multiple spheres. This enables the calculation of minimum distance and the maximum movement length with a very small degree of calculation.

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