Work

Efficient collision detection model and synchronous motion planning method for autonomous mobile robot

Year: 2025

Type: article

Abstract: Current collision detection methods for autonomous mobile robot face limitations in computational inefficiency and precision when dealing with intricate geometric configurations and scenarios with minimal clearance. These constraints stem from overly simplistic geometric models and inefficient distance calculation algorithms, hindering real-time, high-precision obstacle avoidance in complicated operational environments. To overcome these challenges, this study proposes a hybrid geometric collision detection algorithm based on a slice representation model. Initially, the robot’s structure and operational environment are mathematically characterized by merging convex polyhedral envelopes with detailed slice representations. Subsequently, a two-phase computational approach is introduced, which involves a swift geometric approximation to identify hazardous segments, followed by precise minimum-distance computation using discretized geometric slicing models. This method capitalizes on geometric slicing theory, spatial geometric analysis, and optimization search strategies, leading to a notable enhancement in computational efficiency while preserving a high level of accuracy. Comparative numerical analyses demonstrate that the developed hybrid slice algorithm outperforms conventional methods, showcasing a remarkable 93.29 % enhancement in computational efficiency, with minimal efficiency degradation as slice precision increases. Notably, reducing slice spacing from 15 mm to 5 mm ensures computation times remain below 2 s. Furthermore, to advance the utility of collision detection techniques in autonomous mobile robots, an optimization algorithm for layout and motion synchronization planning is introduced. This algorithm integrates collision constraints, energy consumption, efficiency, and overall system safety, enhancing performance and reliability in autonomous robotic motion control. Numerical experiments and practical applications validate that the proposed mathematical models and algorithms significantly elevate the efficacy and dependability of autonomous robotic motion control systems.

Source: Results in Engineering

DOI: 10.1016/j.rineng.2025.108291