{"id":"https://openalex.org/W4220932426","doi":"https://doi.org/10.1109/tase.2022.3157731","title":"Fast Global Collision Detection Method Based on Feature-Point-Set for Robotic Machining of Large Complex Components","display_name":"Fast Global Collision Detection Method Based on Feature-Point-Set for Robotic Machining of Large Complex Components","publication_year":2022,"publication_date":"2022-03-25","ids":{"openalex":"https://openalex.org/W4220932426","doi":"https://doi.org/10.1109/tase.2022.3157731"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3157731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3157731","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101543918","display_name":"Qi Fan","orcid":"https://orcid.org/0000-0002-2644-4457"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qi Fan","raw_affiliation_strings":["Department of Mechanical Science and Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083041554","display_name":"Bo Tao","orcid":"https://orcid.org/0000-0002-4058-6128"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Tao","raw_affiliation_strings":["Department of Mechanical Science and Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026576589","display_name":"Zeyu Gong","orcid":"https://orcid.org/0000-0002-8276-675X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyu Gong","raw_affiliation_strings":["Department of Mechanical Science and Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047436259","display_name":"Xingwei Zhao","orcid":"https://orcid.org/0000-0002-4568-6814"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingwei Zhao","raw_affiliation_strings":["Department of Mechanical Science and Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055427830","display_name":"Han Ding","orcid":"https://orcid.org/0000-0002-5274-7988"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Ding","raw_affiliation_strings":["Department of Mechanical Science and Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101543918"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":1.5283,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.83473877,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"20","issue":"1","first_page":"470","last_page":"481"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7772996425628662},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.7704491019248962},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7331829071044922},{"id":"https://openalex.org/keywords/machining","display_name":"Machining","score":0.6232577562332153},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5527712106704712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.52614426612854},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4526576101779938},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44992929697036743},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4479514956474304},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.42594847083091736},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42584678530693054},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32534241676330566},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31043505668640137},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2576618194580078},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1740136444568634},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11620867252349854},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.09114009141921997}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7772996425628662},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.7704491019248962},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7331829071044922},{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.6232577562332153},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5527712106704712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.52614426612854},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4526576101779938},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44992929697036743},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4479514956474304},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.42594847083091736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42584678530693054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32534241676330566},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31043505668640137},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2576618194580078},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1740136444568634},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11620867252349854},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.09114009141921997},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2022.3157731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3157731","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G234177690","display_name":null,"funder_award_id":"52188102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4400647057","display_name":null,"funder_award_id":"91748204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6697783626","display_name":null,"funder_award_id":"91948301","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W45275088","https://openalex.org/W282686812","https://openalex.org/W1525376093","https://openalex.org/W1973429119","https://openalex.org/W1993827762","https://openalex.org/W1998293730","https://openalex.org/W1999250663","https://openalex.org/W2004139909","https://openalex.org/W2025591272","https://openalex.org/W2042628209","https://openalex.org/W2046481736","https://openalex.org/W2085623174","https://openalex.org/W2096638397","https://openalex.org/W2123703543","https://openalex.org/W2126539456","https://openalex.org/W2129124930","https://openalex.org/W2166316739","https://openalex.org/W2278466928","https://openalex.org/W2531829834","https://openalex.org/W2664907401","https://openalex.org/W2789627688","https://openalex.org/W2793777304","https://openalex.org/W2796079746","https://openalex.org/W2972239070","https://openalex.org/W2996666575","https://openalex.org/W3120385703","https://openalex.org/W3131183118","https://openalex.org/W3138455672","https://openalex.org/W3181488183","https://openalex.org/W4205439813","https://openalex.org/W4231055238","https://openalex.org/W4254540948","https://openalex.org/W6631520654","https://openalex.org/W6749711415"],"related_works":["https://openalex.org/W2963177394","https://openalex.org/W2803338891","https://openalex.org/W2024638892","https://openalex.org/W2361971697","https://openalex.org/W2148917807","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W4379525781","https://openalex.org/W96264222"],"abstract_inverted_index":{"This":[0,194],"paper":[1],"presents":[2],"a":[3,23,75,168,198,240,267,281],"fast":[4],"global":[5,85,98,171,200,242,312],"collision":[6,24,72,86,99,117,172,201,217,243,260,290,303,313],"detection":[7,118,202,244,291],"method":[8,119,137,245,295,322],"for":[9,258],"robotic":[10,158,331],"machining":[11,35,159,332],"of":[12,51,84,106,134,149,160,170,180,191,215,229,287,301,311,327,333],"large":[13,161,181,334],"complex":[14,162,335],"components,":[15],"aiming":[16],"to":[17,58,91,96,113,154,166,234,253,265,278],"quickly":[18],"determine":[19],"whether":[20],"there":[21,41],"is":[22,138,195,226],"between":[25],"the":[26,29,33,48,52,61,70,81,104,114,131,135,147,150,178,189,227,273,285,289,293,298,308,325],"robot":[27],"and":[28,88,143,183,305,317],"surrounding":[30,62],"environment":[31],"during":[32,64],"whole":[34],"process.":[36],"Geometric":[37],"analysis":[38,142,316],"shows":[39],"that":[40,54,271,320],"are":[42,55,78,89],"always":[43],"some":[44],"trajectory":[45,67,94,230,256,274],"points":[46,63,68,83,95,257,275],"on":[47,247],"motion":[49,192,328],"path":[50],"manipulator":[53],"more":[56],"likely":[57,277],"collide":[59,279],"than":[60,207],"machining.":[65],"These":[66],"with":[69,120],"highest":[71],"probability":[73],"within":[74,280],"certain":[76,282],"range":[77],"defined":[79],"as":[80],"feature":[82,269],"detection,":[87,100,218,261,304],"used":[90],"replace":[92],"all":[93,255],"perform":[97,167],"thus":[101],"greatly":[102,296],"improving":[103],"efficiency":[105,190,310,326],"related":[107],"operations":[108],"while":[109],"ensuring":[110,288],"accuracy.":[111],"Compare":[112],"traditional":[115],"discrete":[116],"computational":[121,132,309],"complexity":[122,133],"O(":[123],"<inline-formula":[124,208,220],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[125,209,221],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[126,210,222],"<tex-math":[127,211,223],"notation=\"LaTeX\">$\\text{n}^{2}$":[128],"</tex-math></inline-formula>":[129,213,225],"),":[130],"proposed":[136,151,294],"only":[139,263],"O(n).":[140],"Numerical":[141,315],"application":[144],"experiments":[145,318],"verify":[146],"effectiveness":[148],"method.":[152],"Note":[153],"Practitioners\u2014Motion":[155],"planning":[156,329],"in":[157,330],"components":[163],"usually":[164,203],"needs":[165,264],"lot":[169],"detection.":[173,314],"Existing":[174],"methods":[175],"generally":[176],"have":[177],"problems":[179],"calculation":[182],"low":[184],"efficiency,":[185],"which":[186],"seriously":[187],"affects":[188],"planning.":[193],"mainly":[196],"because":[197],"single":[199],"includes":[204],"no":[205],"less":[206],"notation=\"LaTeX\">$n$":[212,224],"times":[214,300],"static":[216,259,302],"where":[219],"number":[228],"points.":[231],"In":[232],"order":[233],"solve":[235],"this":[236,321],"problem,":[237],"we":[238],"present":[239],"new":[241],"based":[246],"feature-point-set.":[248],"It":[249],"does":[250],"not":[251],"need":[252],"traverse":[254],"but":[262],"detect":[266],"few":[268],"points,":[270],"is,":[272],"most":[276],"range.":[283],"On":[284],"premise":[286],"accuracy,":[292],"reduces":[297],"execution":[299],"significantly":[306],"improves":[307,324],"show":[319],"effectively":[323],"components.":[336]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
