Research on Collision Detection Algorithm for Human-SRL Collaborative Motion Planning

The existing collision detection algorithms are commonly based on triangle patch models, which leads to complex detection logic. Aiming at this problem, this paper proposes a new collision detection algorithm. It has simple detection logic and fast detection speed, and it is mainly used for human-SRL cooperative motion planning. The algorithm is based on a human-SRL skeleton model and a multi-sphere envelope method and includes four sub-algorithms, namely, a multi-sphere envelope sub-algorithm, an SRL collision detection sub-algorithm, a collision detection sub-algorithm between SRL and human, and a collision detection sub-algorithm between SRL and environment objects. This paper first introduces the pseudo-code of the collision detection algorithm. Secondly, the implementation principles of its four sub-algorithms are expounded. Finally, the correctness of the collision detection algorithm is verified by simulation.