足球机器人仿真中的快速碰撞检测

novel collision detection solution is presented to solve the collision detection problem of a micro soccer robot system. The objects in the soccer robot system is described by key detection points and the collision is described by the combinations of point-line relationship after analyzing the geometry and motion characteristics of the moving objects in the soccer field. The detailed collision detection algorithm is designed and the experiment shows the method cost less time and has no escaped collision.