• Title, Summary, Keyword: Collision detection

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Study on the Selection Criteria of 3D Collision Detection Model (3D 충돌 검출 모델의 선정 기준에 관한 연구)

  • Kang, Yun-Mi;Park, Young-B.
    • Journal of IKEEE
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    • v.7 no.2
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    • pp.253-259
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    • 2003
  • In a good 3D engine, objects interactions are similar to those of real-world. Collision is one of the interactions. It includes whether collision took place or not, where collision took placed, and reaction after collision took place. More precise collision detection needs more time. If there exist required precision, detection time can be controlled by choosing appropriate detection model. Therefore, we need a selection mechanism for the collision detection with respect to required precision and detection time. In this paper, a collision detection model with seven different precision levels is examined. And relationship between detection time and precision is analyzed. Consequently, we propose a selection mechanism for collision detection model.

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Simplified Module Based Self-collision Detection for Humanoid Robots (간략화 된 모듈 기반의 휴머노이드 로봇을 위한 자기충돌 탐지)

  • Kwak, Hwan-Joo;Park, Gwi-Tae
    • Proceedings of the KIEE Conference
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    • pp.240-241
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    • 2008
  • We are presenting the efficient and robust simplified module based self-collision detection of humanoid robot simulator. For safe and reliable operations of humanoid robot, the self-collision detection is essential and extremely important. The main methods of self-collision detection are inverse X-Y-Z fixed angles and module distance filtering (MDF). According to experiments on the humanoid robot simulator with the self-collision detection, we could have a confidence about the efficiency of the self-collision.

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A Comparative study On 2D Collision Detection Algorithms For Computer Games (컴퓨터게임을 위한 2D 충돌 감지 알고리즘 비교 분석에 관한 연구)

  • Lee, Young-Jae
    • Journal of Korea Game Society
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    • v.1 no.1
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    • pp.42-48
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    • 2001
  • Collision is a brief dynamic event consisting of the close approach of two or more objects or particles resulting in an abrupt change of momentum or exchange of energy because of interaction. Collisions play very important role in computer graphics, computer games and animations fields. Collisions can supply active interaction between cyberspace and real world and give much interests for making nice games so reasonable collision detection algorithms are needed. Collision detection algorithms should satisfy being fast and accuracy. In this paper, we survey the 2D collision detection algorithms between geometric models. We present several methods and system available for collision detection.

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Acceleration Technique in Particle-based Collision Detection Using Cone Area Based Dynamic Collision Regions (부채꼴 영역 기반의 동적인 충돌 영역을 이용한 입자 기반 충돌 검사의 고속화 기법)

  • Kim, Jong-Hyun
    • Journal of The Korea Computer Graphics Society
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    • v.25 no.2
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    • pp.11-18
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    • 2019
  • In this paper, we propose a framework that can perform acceleration collision detection efficiently by using a cone based collision area in a particle-based system which requires collision detection with many objects. Three conditions determine particle and cone-based collision regions: 1) If there is a cone position within the radius of the adjacent particle, 2) In the case where the position of the adjacent particle exists in the cone area, 3) When adjacent particles exist between two vectors forming a cone area. As a result, it is defined that when the above conditions are all satisfied, the particle and the region of a cone have collided. In this paper, we automatically update the area of the cone, which is the collision detection area, according to the particle movement. Determine the direction and length of the cone based on the position and velocity of the particle to calculate the dynamic change of the cone. Collision detection is performed quickly using only the particles in the finally calculated area. The acceleration method proposed in this paper is simple to implement because it is executed with a closed form equation instead of explicitly creating the tree data structure, and collision inspection performance is improved in all results.

Collision Detection Algorithm based on Velocity Error (속도 오차 기반의 충돌 감지 알고리즘)

  • Cho, Chang-Nho;Lee, Sang-Duck;Song, Jae-Bok
    • The Journal of Korea Robotics Society
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    • v.9 no.2
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    • pp.111-116
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    • 2014
  • Human-robot co-operation becomes increasingly frequent due to the widespread use of service robots. However, during such co-operation, robots have a high chance of colliding with humans, which may result in serious injury. Thus, many solutions were proposed to ensure collision safety, and among them, collision detection algorithms are regarded as one of the most practical solutions. They allow a robot to quickly detect a collision so that the robot can perform a proper reaction to minimize the impact. However, conventional collision detection algorithms required the precise model of a robot, which is difficult to obtain and is subjected to change. Also, expensive sensors, such as torque sensors, are often required. In this study, we propose a novel collision detection algorithm which only requires motor encoders. It detects collisions by monitoring the high-pass filtered version of the velocity error. The proposed algorithm can be easily implemented to any robots, and its performance was verified through various tests.

A Comparative Study on Collision Detection Algorithms based on Joint Torque Sensor using Machine Learning (기계학습을 이용한 Joint Torque Sensor 기반의 충돌 감지 알고리즘 비교 연구)

  • Jo, Seonghyeon;Kwon, Wookyong
    • The Journal of Korea Robotics Society
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    • v.15 no.2
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    • pp.169-176
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    • 2020
  • This paper studied the collision detection of robot manipulators for safe collaboration in human-robot interaction. Based on sensor-based collision detection, external torque is detached from subtracting robot dynamics. To detect collision using joint torque sensor data, a comparative study was conducted using data-based machine learning algorithm. Data was collected from the actual 3 degree-of-freedom (DOF) robot manipulator, and the data was labeled by threshold and handwork. Using support vector machine (SVM), decision tree and k-nearest neighbors KNN method, we derive the optimal parameters of each algorithm and compare the collision classification performance. The simulation results are analyzed for each method, and we confirmed that by an optimal collision status detection model with high prediction accuracy.

Development of a Frontal Collision Detection Algorithm Using Laser Scanners (레이져 스캐너를 이용한 전방 충돌 예측 알고리즘 개발)

  • Lee, Dong-Hwi;Han, Kwang-Jin;Cho, Sang-Min;Kim, Yong-Sun;Huh, Kun-Soo
    • Transactions of the Korean Society of Automotive Engineers
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    • v.20 no.3
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    • pp.113-118
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    • 2012
  • Collision detection plays a key role in collision mitigation system. The malfunction of the collision mitigation system can result in another dangerous situation or unexpected feeling to driver and passenger. To prevent this situation, the collision time, offset, and collision decision should be determined from the appropriate collision detection algorithm. This study focuses on a method to determine the time to collision (TTC) and frontal offset (FO) between the ego vehicle and the target object. The path prediction method using the ego vehicle information is proposed to improve the accuracy of TTC and FO. The path prediction method utilizes the ego vehicle motion data for better prediction performance. The proposed algorithm is developed based on laser scanner. The performance of the proposed detection algorithm is validated in simulations and experiments.

Implementation of Shooting game using collision detection algorithm of (사각형 충돌감지알고리즘을 사용한 슈팅게임 구현)

  • Seo, Jeong-Man;Han, Sang-Hoon;Lee, Ho
    • Journal of the Korea Society of Computer and Information
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    • v.11 no.3
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    • pp.187-192
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    • 2006
  • We reviewed the collision event with pc-based shooting games and existing collision detection algorithms. Then we proposed a new collision check technique using a small quadrilateral unit. by which existing quadrilateral collision detection techniques can be made up for. For demonstration we implemented a simple shooting game having its screen output. We proved that the proposed technique can be applied to real computer games by means of showing the experimental results and screen outputs from implemented real games.

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A Collision detection from division space for performance improvement of MMORPG game engine (MMORPG 게임엔진의 성능개선을 위한 분할공간에서의 충돌검출)

  • Lee, Sung-Ug
    • The KIPS Transactions:PartB
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    • v.10B no.5
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    • pp.567-574
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    • 2003
  • Application field of third dimension graphic is becoming diversification by the fast development of hardware recently. Various theory of details technology necessary to design game such as 3D MMORPG (Massive Multi-play Online Role Flaying Game) that do with third dimension. Cyber city should be absorbed. It is the detection speed that this treatise is necessary in game engine design. 3D MMORPG game engine has much factor that influence to speed as well as rendering processing because it express huge third dimension city´s grate many building and individual fast effectively by real time. This treatise nay get concept about the collision in 3D MMORPG and detection speed elevation of game engine through improved detection method. Space division is need to process fast dynamically wide outside that is 3D MMORPG´s main detection target. 3D is constructed with tree construct individual that need collision using processing geometry dataset that is given through new graph. We may search individual that need in collision detection and improve the collision detection speed as using hierarchical bounding box that use it with detection volume. Octree that will use by division octree is used mainly to express rightly static object but this paper use limited OSP by limited space division structure to use this in dynamic environment. Limited OSP space use limited space with method that divide square to classify typically complicated 3D space´s object. Through this detection, this paper propose follow contents, first, this detection may judge collision detection at early time without doing all polygon´s collision examination. Second, this paper may improve detection efficiency of game engine through and then reduce detection time because detection time of bounding box´s collision detection.

Collision Detection and Response Calculation for 3-D Computer Animation (3차원 컴퓨터 애니메이션을 위한 충돌 검색 및 반응 계산)

  • 김현준;경종민
    • Journal of the Korean Institute of Telematics and Electronics A
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    • v.30A no.3
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    • pp.130-138
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    • 1993
  • A mechanism for collision detection in general animation system is necessary to prevent the interpenetration among multiple objects. On the other hand, a dynamic simulation system which is a part of animation system simulates realistic motions using dynamics after the collision, which is called collision response. In this paper, a method for reducing the CPU time for collision detection by removing redundant calculations and object sorting is proposed. A dynamic simulation system including collision detection and response function was implemented to demonstrate the proposed methods, where the input data as elasticity, friction, gravity, object shape, external force and external torque are given by the user. The system simulates motions of multiple objects using dynamics, and generates the wireframe display.

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