A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization
Qianhao Wang,Zhepei Wang,Liuao Pei,Chao Xu,Fei Gao,Qianhao Wang,Zhepei Wang,Liuao Pei,Chao Xu,Fei Gao
Collision evaluation is of essential importance in various applications. However, existing methods are either cumbersome to calculate or not exact. Therefore, considering the cost of implementation, most whole-body planning works, which require evaluating collision between robots and environments, struggle to tradeoff between accuracy and computationally efficiency. In this paper, we propose a zer...
