Robo-Centric ESDF: A Fast and Accurate Whole-Body Collision Evaluation Tool for Any-Shape Robotic Planning
Shuang Geng,Qianhao Wang,Lei Xie,Chao Xu,Yanjun Cao,Fei Gao,Shuang Geng,Qianhao Wang,Lei Xie,Chao Xu,Yanjun Cao,Fei Gao
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 ...
