Paper ID: 2208.06331

A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization

Qianhao Wang, Zhepei Wang, Liuao Pei, Chao Xu, Fei Gao

Collision evaluation is of vital importance in various applications. However, existing methods are either cumbersome to calculate or have a gap with the actual value. In this paper, we propose a zero-gap whole-body collision evaluation which can be formulated as a low dimensional linear program. This evaluation can be solved analytically in O(m) computational time, where m is the total number of the linear inequalities in this linear program. Moreover, the proposed method is efficient in obtaining its gradient, making it easy to apply to optimization-based applications.

Submitted: Aug 12, 2022