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To reduce time for collision detection among articulated models, the collision detection algorithm of Hybrid Bounding Volume Hierarchy Tree (HBVHT) was proposed to accelerate the speed of culling away triangles. The HBVHT was composed of two phases: A broad phase and a narrow phase. The broad phase consisted of Axis-Aligned Bounding Box (AABB) and the Bounding Volume (BV) was used to build a Multi-Level Hierarchy Tree (MLHT); the narrow phase was made up of the Oriented Bounding Box (OBB) hierarchy trees and triangles. Furthermore, according to the characteristic of hierarchical structure of the HBVHT, an improved cost function was given to analyze the performance of the HBVHT. Experiments were performed between two 6-DOF robots under the Open GL environment. Two robots with the same number of triangles moved with the same trajectory for the collision experiments. Experimental results show that the efficiency of HBVHT algorithm is higher than that of the RAPID and the other two HBVHTs with different structure. The results indicate that the HBVHT algorithm can effectively improve the efficiency of collision detection among the articulated model robots.
