Abstract
The need for collision detection arises in several robotics areas, including motion-planning, online collision avoidance, and simulation. At the heart of most current methods are algorithms for interference detection and/or distance computation. A few recent algorithms and implementations are very fast, but to use them for accurate collision detection, very small step sizes can be necessary, reducing their effective efficiency. We present a fast, implemented technique for doing exact distance computation and interference detection for translationally-swept bodies. For rotationally swept bodies, we adapt this technique to improve accuracy, for any given step size, in distance computation and interference detection. We present preliminary experiments which show that the combination of basic and swept-body calculations holds much promise for faster accurate collision detection.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
