Work

Collision Detection for Unions of Convex Bodies With Smooth Boundaries Using Closed-Form Contact Space Parameterization

Year: 2022

Type: article

Abstract: This paper studies the narrow phase collision detection problem for two general unions of convex bodies encapsulated by smooth surfaces. The approach, namelyCFC(Closed-Form Contact space), is based on parameterizing their contact space in closed-form. The first body is dilated to form the contact space while the second is shrunk to a point. Then, the collision detection is formulated as finding the closest point on the parametric contact space with the center of the second body. Numerical solutions are proposed based on the point-to-surface distance as well as the common-normal concept. Furthermore, when the two bodies are moving or under linear deformations, their first time of contact is solved continuously along the time-parameterized trajectories. Benchmark studies are conducted for the proposed algorithms in terms of solution stability and computational cost. Applications of the sampling-based motion planning for robot manipulators are demonstrated.

Source: IEEE Robotics and Automation Letters

DOI: 10.1109/lra.2022.3190629

Authors: Sipu Ruan, Xiaoli Wang, Gregory S. Chirikjian

Institution: National University of Singapore

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $2,195

Funders: National Research Foundation, National University of Singapore, National Research Foundation Singapore, Ministry of Education, India