Abstract
With the rapid development of robot technology, robot simulation starts from C/S to B/S. However, since online collision avoidance is a major concern, there are only a few Web3D robot simulation platforms that can operate online on the Web in the industry. In order to effectively realize fast and high precision online collision avoidance on the Web, this paper proposes a set of online collision avoidance algorithms for lightweight Web3D robots based on M-BVH. M-BVH is a binary tree which use Morton code to divide and organize all of the triangles of the robot model. In our algorithm, we constructs 2 M-BVH trees to speed up the detection process, and aids lightweight optimization methods like the inner body elimination algorithm to reduce the computational burden of high precision collision avoidance in Web3D scenes. The experimental results show that the method of this paper has accurate collision avoidance detection accuracy in the Web3D scene of complex robots, and can ensure it has a fast detection speed.
This research is partially supported by the Basic Grant of Natural Science Foundation of China (No. 6207071897) and the Key Project of Regional Joint Grant of Science Natural Foundation of China (No. U19A2063).
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Wang, W., Jia, J. (2021). Online Collision Avoidance Algorithm for Lightweight Web3D Robot Based on M-BVH. In: Jia, W., et al. Emerging Technologies for Education. SETE 2021. Lecture Notes in Computer Science(), vol 13089. Springer, Cham. https://doi.org/10.1007/978-3-030-92836-0_14
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DOI: https://doi.org/10.1007/978-3-030-92836-0_14
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