Name
Title | ||
|---|---|---|
Efficient exact collision-checking of 3-D rigid body motions using linear transformations and distance computations in workspace |
Abstract | ||
|---|---|---|
This paper presents a new method for efficient and exact collision-checking of linear motions of 3-D rigid bodies. 3-D rigid bodies have 6-D configuration spaces (three degrees of freedom for position and three for orientation), and constitute an important subclass of motion planning problems. Our method can be used with any collision-checker that is capable of performing linear transformations and distance computations on 3-D geometry. As previous work has shown, computing the distance between the rigid body in some configuration and the workspace obstacles immediately determines the collision-status of surrounding configurations. Using a recursive procedure one can then determine exactly whether an entire motion of the rigid body is collision-free. In this paper, we will show that by performing an optimally selected linear transformation on the workspace, the collision-status of rigid body motions can be determined using significantly fewer (costly) distance computations. Since collision-checking is often the computational bottleneck in sampling-based motion planning, our approach allows for significant performance improvements of algorithms such as PRM and RRT when planning for 3-D rigid bodies. We demonstrate the benefit of our approach when used in combination with RRT to construct a planning tree in an illustrative benchmark motion planning scenario. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICRA.2014.6907132 | ICRA |
Keywords | Field | DocType |
6d configuration spaces,sampling-based motion planning,motion estimation,distance computations,collision-checking,3d geometry,sampling methods,collision avoidance,3d rigid body motions,geometry,linear transformations | Motion planning,Topology,Ellipsoid,Linear motion,Midpoint,Workspace,Euclidean distance,Rigid body,Mathematics,Computation | Conference |
Volume | Issue | ISSN |
2014 | 1 | 1050-4729 |
Citations | PageRank | References |
2 | 0.38 | 23 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| He Liang | 1 | 26 | 6.09 |
| Jur van den Berg | 2 | 1977 | 93.23 |