About this document
Local Collision Avoidance for Robots by thedeathhd is a document available to read on EtoBox.
This paper proposes a local collision avoidance method for non-strictly convex polyhedra that allows for continuous velocities. The method extends an existing method for strictly convex objects to handle polyhedra without approximation. Constraints are generated for each pair of faces rather than just closest points, and continuity is managed through combinatorics based on Voronoi regions. The method formulates collision avoidance as an optimization problem to find velocities that satisfy task objectives an
- Author
- thedeathhd
- Language
- EN