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arXiv · 2208.06331

A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization

Qianhao Wang·Zhepei Wang·Liuao Pei·Chao Xu·Fei Gao
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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.

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Qianhao Wang, Zhepei Wang, Liuao Pei, Chao Xu, Fei Gao. 2022-08-12. A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization. https://arxiv.org/abs/2208.06331

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