Octree-based Spherical hierarchical model for Collision detection

This paper has analysed the most commonly used three bounding representation for robot links at the beginning. After that, the advantages of hierarchical structure and Octree data structure are presented. Moreover, this paper has proposed an Octree-based Spherical Representation which has both of the advantages of Octree structure and spherical bounding representation. Two main parts of the proposed representation model are described in details which include Octree-based cube model and three-layer cuboid model. In addition, principles of collision detection and procedures of establishing the model are also given. Finally, an example of collision detection in two-robot system is given using the proposed models. The result indicates the proposed model is effective for the collision detection of two-robot system.