Crane collision modelling using a neural network approach

摘要

The objective of the present work is to find a Collision Detection algorithm to be used in the Virtual Reality crane simulator (UVSim®), developed by the Robotics Institute of the University of Valencia for the Port of Valencia. The method is applicable to box-shaped objects and is based on the relationship between the colliding object positions and their impact points. The tool chosen to solve the problem is a neural network, the multilayer perceptron, which adapts to the characteristics of the problem, namely, non-linearity, a large amount of data, and no a priori knowledge. The results achieved by the neural network are very satisfactory for the case of box-shaped objects. Furthermore, the computational burden is independent from the object positions and how the surfaces are modelled; hence, it is suitable for the real-time requirements of the application and outperforms the computational burden of other classical methods.The model proposed is currently being used and validated in the UVSim Gantry Crane simulator.