Моделирование взаимодействия мобильного робота и опорного основания с помощью алгоритмов пересечения многогранников

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Моделирование взаимодействия мобильного робота и опорного основания…
Инженерный журнал: наука и инновации # 12·2016 15
Simulating the interaction between a mobile robot
and a supporting surface with the help of polygon
intersection algorithms
© A.A. Stadukhin
Bauman Moscow State Technical University, Moscow, 105005, Russia
When simulating the interaction between vehicle chassis and supporting surfaces, re-
searchers often disregard geometrical shapes of the contacting element and the ground
profile, studying “point contact” only. This article suggests representing machine ele-
ments and ground profile as polygons and studying their intersection by employing well-
known algorithms — GJK (Gilbert–Johnson–Keerthi), EPA (Expanding Polytope Algo-
rithm) and CA (Clipping Algorithms). We supply a short description of the algorithms
and explain how to adapt them to the application under consideration. We show a tech-
nique for splitting the path into convex polygons, required for algorithm operation. We
demonstrate the results of simulating a simple mechanical system in the MATLAB envi-
ronment. As an example, we provide a simulation of a mobile robot with a roller walker
chassis climbing stairs. We specify the primary difficulties concerning the application of
the simulation technique discussed.
Keywords: transportation, robot, supporting surface, simulation, MATLAB, GJK, EPA.
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