Collision Checking

Moving objects in a scene involves repeated collision checking; when combined with highly complex scenes like industrial installations, such computations push high-end products to their limits. The objective of this component is to develop techniques allowing very fast collision checking and suited to the specific needs of the planning tools of MOLOG. In a first phase, the limits of the existing techniques will be identified. In a second phase a collision checker will be defined based on a combination of existing techniques for interference detection and new techniques from computational geometry, in particular the computation of sweep volumes and the use of special geometric data structures to restrict the work to the relevant portions of the environment, and to efficiently handle dynamic changes of the environment.