A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization
Robotics
2023-01-09 v2
Abstract
Collision evaluation is of vital importance in various applications. However, existing methods are either cumbersome to calculate or have a gap with the actual value. In this paper, we propose a zero-gap whole-body collision evaluation which can be formulated as a low dimensional linear program. This evaluation can be solved analytically in O(m) computational time, where m is the total number of the linear inequalities in this linear program. Moreover, the proposed method is efficient in obtaining its gradient, making it easy to apply to optimization-based applications.
Cite
@article{arxiv.2208.06331,
title = {A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization},
author = {Qianhao Wang and Zhepei Wang and Liuao Pei and Chao Xu and Fei Gao},
journal= {arXiv preprint arXiv:2208.06331},
year = {2023}
}