CAJ | 학술논문

虚拟现实在遥操作机器人系统中克服时延的影响、提高操作安全性和作业效率等方面有着重要作用。为了提高虚拟环境中碰撞检测的效率和精度，提出基于混合层次包围盒和多线程的快速计算方法：用包含包围球、轴对齐包围盒和方向包围盒树的混合层次包围盒进行快速剔除测试，并用三角面片间的测试确定物体是否干涉及干涉位置，用多线程技术来加速场景的遍历、层次结构下降及干涉三角形的绘制。仿真实验结果证明了该方法在提高检测速度方面的有效性。
허의현실재요조작궤기인계통중극복시연적영향、제고조작안전성화작업효솔등방면유착중요작용。위료제고허의배경중팽당검측적효솔화정도，제출기우혼합층차포위합화다선정적쾌속계산방법：용포함포위구、축대제포위합화방향포위합수적혼합층차포위합진행쾌속척제측시，병용삼각면편간적측시학정물체시부간섭급간섭위치，용다선정기술래가속장경적편력、층차결구하강급간섭삼각형적회제。방진실험결과증명료해방법재제고검측속도방면적유효성。
Virtual reality plays an important role in overcoming the influence of time-delay and improving the operational safety and efficiency in the teleoperation robot system. In order to improve the efficiency and accuracy of col ision detection in virtual environ-ment, a fast algorithm based on hybrid hierarchical bounding volume and multi-threading is proposed. The hybrid hierarchical boun-ding volume is used in the algorithm to execute the excluding test, including bounding sphere, AABB and OBB tree. Through the test between triangle and triangle, the object col ision and its col iding position are defermined. The multi-threading is used to accelerate the process of traversing scene, the decline of the hierarchical structure and drawing of interferential triangles. The experimental re-sults show the algorithm can be used to improve the efficiency of the col ision detection.