スケール最適化による全身衝突評価の線形かつ厳密なアルゴリズム
A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization
全身衝突評価を低次元線形計画問題として定式化し、O(m)時間で解析的に解ける厳密な手法を提案した。勾配も効率的に得られるため最適化応用に適する。
著者: Qianhao Wang, Zhepei Wang, Liuao Pei, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
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.
