ロボット中心ESDF：任意形状ロボットプランニングのための高速で正確な全身衝突評価ツール
Robo-centric ESDF: A Fast and Accurate Whole-body Collision Evaluation Tool for Any-shape Robotic Planning
ロボットの機体座標系で事前構築したESDFにより、任意形状の移動ロボットの全身衝突評価を高速かつ正確に行い、軌道最適化を効率化する手法を提案。
著者: Shuang Geng, Qianhao Wang, Lei Xie, Chao Xu, Yanjun Cao, Fei Gao
分類: cs.RO
原文アブストラクト
For letting mobile robots travel flexibly through complicated environments, increasing attention has been paid to the whole-body collision evaluation. Most existing works either opt for the conservative corridor-based methods that impose strict requirements on the corridor generation, or ESDF-based methods that suffer from high computational overhead. It is still a great challenge to achieve fast and accurate whole-body collision evaluation. In this paper, we propose a Robo-centric ESDF (RC-ESDF) that is pre-built in the robot body frame and is capable of seamlessly applied to any-shape mobile robots, even for those with non-convex shapes. RC-ESDF enjoys lazy collision evaluation, which retains only the minimum information sufficient for whole-body safety constraint and significantly speeds up trajectory optimization. Based on the analytical gradients provided by RC-ESDF, we optimize the position and rotation of robot jointly, with whole-body safety, smoothness, and dynamical feasibility taken into account. Extensive simulation and real-world experiments verified the reliability and generalizability of our method.
