A Self-Collision Detection Algorithm of a Dual-Manipulator System Based on GJK and Deep Learning

Abstract

Self-collision detection is fundamental to the safe operation of multi-manipulator systems, especially when cooperating in highly dynamic working environments. Existing methods still face the problem that detection efficiency and accuracy cannot be achieved at the same time. In this paper, we introduce artificial intelligence technology into the control system. Based on the Gilbert-Johnson-Keerthi (GJK) algorithm, we generated a dataset and trained a deep neural network (DLNet) to improve the detection efficiency. By combining DLNet and the GJK algorithm, we propose a two-level self-collision detection algorithm (DLGJK algorithm) to solve real-time self-collision detection problems in a dual-manipulator system with fast-continuous and high-precision properties. First, the proposed algorithm uses DLNet to determine whether the current working state of the system has a risk of self-collision; since most of the working states in a system workspace do not have a self-collision risk, DLNet can effectively reduce the number of unnecessary detections and improve the detection efficiency. Then, for the working states with a risk of self-collision, we modeled precise colliders and applied the GJK algorithm for fine self-collision detection, which achieved detection accuracy. The experimental results showed that compared to that with the global use of the GJK algorithm for self-collision detection, the DLGJK algorithm can reduce the time expectation of a single detection in a system workspace by 97.7%. In the path planning of the manipulators, it could effectively reduce the number of unnecessary detections, improve the detection efficiency, and reduce system overhead. The proposed algorithm also has good scalability for a multi-manipulator system that can be split into dual-manipulator systems.

Advanced Intelligent Control in Robots

“…“A Self-Collision Detection Algorithm of a Dual-Manipulator System Based on GJK and Deep Learning” [ 15 ] introduces AI technology into a control system based on the Gilbert–Johnson–Keerthi (GJK) algorithm. A dataset and trained deep neural network (DLNet) are generated to improve the detection efficiency.…”

“…A two-level stability index system, including a minimum index and range index, is developed based on the dynamic model of the robot, and the optimization variables, including leg landing points, trunk movement trajectory and posture change rule, are determined. "A Self-Collision Detection Algorithm of a Dual-Manipulator System Based on GJK and Deep Learning" [15] introduces AI technology into a control system based on the Gilbert-Johnson-Keerthi (GJK) algorithm. A dataset and trained deep neural network (DLNet) are generated to improve the detection efficiency.…”

Neural Network Method of Controlling Self-Collisions of Multilink Manipulators Based on the Solution of the Classification Problem

“…It is not advisable to install sensors on all links and the sensor must monitor the space around it 360 degrees. Sensor methods are expensive and cannot be used in simulation studies [18].…”

Virtual Reality Collision Detection Based on Improved Ant Colony Algorithm

“…At the same time, with the development of computer graphics technology, real-time simulations of intricate scenes have received extensive attention, and the real-time and precision requirements of collision detection algorithms are also rising. There are two main types of collision algorithms: those based on the time domain and those based on the space domain [3].…”