在机器人路径规划中 ,碰撞检测算法占有十分重要的地位 .在智能机器人仿真系统中 ,碰撞检测耗用的时间在整个路径规划过程所用时间中占有相当大的比例 .于是 ,如何进一步提高碰撞检测的速度在智能机器人路径规划系统中就起到了非常关键的作用 .而碰撞检测问题最终转化为判断三维空间中两个凸多面体是否相交的问题 .就这一问题 ,给出了一种新的算法 ,其思想是取一个从一个凸多面体指向另一个多面体的向量 ,根据两个多面体中的面与这一向量的相对位置关系来寻找相交的平面 .即有两个多面体的交点位于这一平面 ,若能找到一个相交平面则可以断定两个多面体相交 Collision detection algorithms occupy a very important position in the robot path planning.In the intelligent robot simulation system, the time spent in collision detection occupies a large proportion of the time spent in the entire path planning process.Therefore, how to further improve the collision detection Speed ​​plays a very crucial role in the path planning system of intelligent robots.The problem of collision detection finally transforms into the problem of judging whether two convex polyhedrons intersect in three-dimensional space.In this paper, a new algorithm is given, The idea is to take a vector that points from one convex polyhedron to another polyhedron, and find the intersecting plane according to the relative positions between the polyhedron and the vector, that is, the intersection of two polyhedrons is located in this plane. If If we can find a plane of intersection, we can conclude that two polyhedrons intersect