Efficient Collision Detection Algorithm for Space Reconfigurable Integrated Leg-Arm Robot

In order to improve the safety and efficiency of space reconfigurable integrated leg-arm robot where performing space missions, this paper proposes an efficient collision detection algorithm based on bounding volume hierarchy (Bounding Volume Hierarchy, BVH). This algorithm effectively identifies and handles potential collisions between the robot and external obstacles as well as the robot's own components by building a hierarchical collision detection model. The algorithm was verified using the MuJoCo simulation platform. In addition, this article also discusses in detail the construction method of the collision detection model and its application in robot operation, including collision detection with obstacles and self-collision detection.