Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points

2024/10/16 by Lotte Rassaerts, Eke Suichies, Rassaerts, Lotte +11
Engineering · #FOS: Computer and information sciences #Fault Detection and Control Systems #Robotics (cs.RO)

paper · pdf · doi:10.48550/arxiv.2410.12659

openalex publication_date 2024/10/16 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing abrupt shifts in closest points, this method effectively reduces collision risks and enhances controller performance. Applied to an Image Guided Therapy robot and validated through simulations and user experiments, the framework demonstrates improved distance prediction accuracy, smoother trajectories, and safer navigation near obstacles.

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