多項式軌道に対する移動ロボットのための一般化連続衝突検出フレームワーク
A Generalized Continuous Collision Detection Framework of Polynomial Trajectory for Mobile Robots in Cluttered Environments
移動ロボットの多項式軌道と様々な静的障害物との衝突を多項式不等式に変換し、効率的に解くことで衝突の有無と正確な衝突時刻を計算する一般化連続衝突検出フレームワークを提案した。
著者: Zeqing Zhang, Yinqiang Zhang, Ruihua Han, Liangjun Zhang, Jia Pan
分類: cs.RO
原文アブストラクト
In this paper, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along the polynomial trajectory in cluttered environments including various static obstacle models. Specifically, we find that the collision conditions between robots and obstacles could be transformed into a set of polynomial inequalities, whose roots can be efficiently solved by the proposed solver. In addition, we test different types of mobile robots with various kinematic and dynamic constraints in our generalized CCD framework and validate that it allows the provable collision checking and can compute the exact time of impact. Furthermore, we combine our architecture with the path planner in the navigation system. Benefiting from our CCD method, the mobile robot is able to work safely in some challenging scenarios.
