GPU-Accelerated Optimization-Based Collision Avoidance
Zeming Wu,Zhuping Wang,Hao Zhang,Zeming Wu,Zhuping Wang,Hao Zhang
This paper proposes a GPU-accelerated optimization framework for collision avoidance problems where the controlled objects and the obstacles can be modeled as the finite union of convex polyhedra. A novel collision avoidance constraint is proposed based on scale-based collision detection and the strong duality of convex optimization. Under this constraint, the high-dimensional non-convex optimizat...
