Name
Abstract | ||
|---|---|---|
In this paper, we describe how collision checking for car-like robots can be sped up utilizing system knowledge. Their non-holonomic motion, while being a challenge for motion planning, is utilized here to place discs which are used as an approximation of the robot's shape in a predictive manner. For ease of comparison, we assume the robot to be rectangular, i.e., we use bounding boxes.Our algorithm is compared to a widely-used baseline and shows similar performance in terms of under-and oversampling while being approximately 20-40% faster. Another feature of the algorithm is its predictive nature: with the frontal disc, we already check for collisions that would occur with the rear disc in the next sample, assuming near-constant curvature. While this might be conservative in some cases where large steering rates are necessary, in our evaluation even tight corridors could be navigated without negative effects. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/IROS.2018.8594454 | 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Field | DocType | ISSN |
Motion planning,Computer vision,Curvature,Oversampling,Computer science,Robot kinematics,Collision,Artificial intelligence,Robot,Trajectory,Bounding overwatch | Conference | 2153-0858 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Benjamin C. Heinrich | 1 | 0 | 1.69 |
| Dennis Fassbender | 2 | 2 | 2.79 |
| Hans-Joachim Wuensche | 3 | 88 | 19.09 |