research-article

Collision handling with variable-step integrators

Authors:

Andrea Neumayr and

Martin OtterAuthors Info & Claims

EOOLT '17: Proceedings of the 8th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools

December 2017

Pages 9 - 18

https://doi.org/10.1145/3158191.3158193

Published: 01 December 2017 Publication History

Abstract

This paper deals with collision handling of many convex shapes in offline simulations of Modelica-like object-oriented models, using variable-step integrators with error control. Hereby, it is assumed that collisions appear only from time to time and/or that path planning algorithms shall utilize the provided information for collision avoidance. Improvements to the Minkowski Portal Refinement (MPR) algorithm are proposed, as well as enhancements so that zero-crossing functions can be provided for the integrator in order to trigger events when contact starts and ends. The algorithms are demonstrated with a prototype implemented with the Julia programming language.

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Cited By

Neumayr AOtter M(2023)Modelling and Simulation of Physical Systems with Dynamically Changing Degrees of FreedomElectronics10.3390/electronics1203050012:3(500)Online publication date: 18-Jan-2023
https://doi.org/10.3390/electronics12030500
Neumayr AOtter MNytsch-Geusen CEnge-Rosenblatt O(2019)Collision handling with elastic response calculation and zero-crossing functionsProceedings of the 9th International Workshop on Equation-based Object-oriented Modeling Languages and Tools10.1145/3365984.3365986(57-65)Online publication date: 5-Nov-2019
https://dl.acm.org/doi/10.1145/3365984.3365986

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cover image ACM Other conferences

EOOLT '17: Proceedings of the 8th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools

December 2017

95 pages

ISBN:9781450363730

DOI:10.1145/3158191

General Chair:
Dirk Zimmer
DLR German Aerospace Center, Weßling, Germany
,
Program Chair:
Bernhard Bachmann
University of Applied Sciences, Bielefeld, Germany

Copyright © 2017 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Published: 01 December 2017

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EOOLT'17

EOOLT'17: 8th International Workshop on Equation-Based Object-Oriented Languages and Tools

December 1, 2017

Weßling, Germany

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Cited By

Neumayr AOtter M(2023)Modelling and Simulation of Physical Systems with Dynamically Changing Degrees of FreedomElectronics10.3390/electronics1203050012:3(500)Online publication date: 18-Jan-2023
https://doi.org/10.3390/electronics12030500
Neumayr AOtter MNytsch-Geusen CEnge-Rosenblatt O(2019)Collision handling with elastic response calculation and zero-crossing functionsProceedings of the 9th International Workshop on Equation-based Object-oriented Modeling Languages and Tools10.1145/3365984.3365986(57-65)Online publication date: 5-Nov-2019
https://dl.acm.org/doi/10.1145/3365984.3365986

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