A New Collision Detection Algorithm Using Octree Models

García, Germán Martín; Corre, J.F. Le

doi:10.1109/iros.1989.637892

Cited by 6 publications

(4 citation statements)

References 10 publications

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“…Finally, parameters a i and θ i represent the length of the wire between two consecutive bends and the bending angles, respectively. Thanks to this reformulation of the problem, checking wire self-collisions and collisions between wire and machine components can easily be traced back to a planning problem in the presence of constraints, which can be tackled modelling the wire as a group of cylinders, and using algorithms consolidated in the literature, e.g., Gilber-Johnson-Keerthi (GJK) algorithm (Gilbert, Johnson, and Keerthi 1988) or octrees (Garcia and Le Corre 1989). Some technological issues must be considered, regarding the elastic behaviour of the wire, and the cases of high values of the bending angle and variable radius bending.…”

Section: Bending Wire Modellingmentioning

confidence: 99%

Automatic computation of bending sequences for wire bending machines

Baraldo¹,

Bascetta

Caprotti³

et al. 2022

International Journal of Computer Integrated Manufacturing

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Determining a feasible bending sequence, i.e., ensuring absence of wire self-collisions and wire-machine collisions, or even an optimal bending sequence, i.e., minimising time or energy required to perform it, can be a difficult and time consuming task for complex workpieces, even for an expert operator. The introduction of algorithms for the computation of wire bending sequences is thus crucial to increase productivity and production flexibility, and to decrease production costs. To this aim, this work proposes an algorithm to automatically determine an appropriate bending sequence for a given workpiece, bending tool, and machine 3D CAD model, that leverages on a representation of the wire as a robotic manipulator and of a bending sequence as a tree, and on the adoption of A as graph search algorithm. A cost and a heuristic function, suitable for the wire bending problem, and an approach to parallelise the execution of A are introduced, as well. In this way, a computationally simple and efficient wire bending sequence computation algorithm can be devised, able to determine a solution in an amount of time less or equal to the time used by an expert operator, without the need of high computational power. Finally, the effectiveness of this algorithm is assessed on two different test cases, relevant to industrial workpieces.

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Section: Bending Wire Modellingmentioning

confidence: 99%

Automatic computation of bending sequences for wire bending machines

Baraldo¹,

Bascetta

Caprotti³

et al. 2022

International Journal of Computer Integrated Manufacturing

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“…For that reason, an octree search method replaces the classical search method in our Kinetic Monte Carlo algorithm. An octree (contraction of "octary" and "tree") search method consists in divided recursively a volume in 8 sub-volumes according to a criteria defined by the user [22], [23]. It could be for example a number of elements in a volume or a maximum depth of the tree.…”

Section: B Defect Interaction Managementmentioning

confidence: 99%

A Kinetic Monte Carlo Algorithm to Model the Annealing Process and Compute the Dark Current Nonuniformity

Lemiere

Inguimbert

Nuns

2021

IEEE Trans. Nucl. Sci.

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“…Octree is also a widespread hierarchical representation of bounding volume schemes for detecting collision. 12,13 Octree representation methods recursively decompose objects up to a given resolution level and maintain these boxes using a tree structure. It is easy to detect collision by means of searching the nodes of the tree structure, however, it is not suitable and efficient to represent dynamic objects for separating distance computation and collision detection.…”

Section: Introductionmentioning

confidence: 99%

Fast and accurate collision detection based on enclosed ellipsoid

Liu

Shiang

et al. 2001

Robotica

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A fast and accurate method for detecting the collisions of convex polyhedra in a graphical simulation environment based on a newly developed method of distance estimate is presented. By the simultaneous use of the enclosing and the enclosed ellipsoids of convex polyhedra, potential collisions can be detected more accurate than those methods using only bounding volume for object representation, and more efficient than the polyhedral methods. An approach for computing the enclosed ellipsoid of a convex polyhedron by compressing, stretching and scaling operations on its best-fit enclosing ellipsoid is introduced. Graphical simulations of two case studies (moving polyhedral objects in three-dimensional space and multiple robot arms undergoing straight line motions) are conducted to demonstrate the accuracy of the proposed algorithm for collision detection.

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A New Collision Detection Algorithm Using Octree Models

Cited by 6 publications

References 10 publications

Automatic computation of bending sequences for wire bending machines

Automatic computation of bending sequences for wire bending machines

A Kinetic Monte Carlo Algorithm to Model the Annealing Process and Compute the Dark Current Nonuniformity

Fast and accurate collision detection based on enclosed ellipsoid

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