Research on Multi-Robot Collision Detection Strategy in Complex Environment

Collision detection is one of the key technologies for realizing multi-robot motion planning under environmental constraints. To reduce computation time and improve detection efficiency, this paper proposes a task-decomposition-based 3stage collision detection strategy, which includes a collision detection rigid body matrix, a coarse collision detection stage, and a precise collision detection stage. To verify the superior performance of the proposed strategy, the widely used Bullet collision detection algorithm was selected as a comparison benchmark. The experimental results demonstrate that the proposed method significantly optimizes the collision detection process, greatly reduces execution time, and enhances overall detection efficiency.