Continuous Implicit SDF Based Any-Shape Robot Trajectory Optimization
Tingrui Zhang,Jingping Wang,Chao Xu,Alan Gao,Fei Gao,Tingrui Zhang,Jingping Wang,Chao Xu,Alan Gao,Fei Gao
Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory or suffers from a huge overhead in maintaining additional information such as the Signed Distance Field (SDF). To bridge the gap, we consider the robot as an impli...
