Efficient Probabilistic Collision Detection for Non-Convex Shapes

2016/10/12 by Park, Jae Sung, Park, Chonhyon, Manocha, Dinesh
#FOS: Computer and information sciences #Robotics (cs.RO)

paper · doi:10.48550/arxiv.1610.03651

Abstract

We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability distributions. We present a fast new algorithm for a pair of convex objects, and extend the approach to non-convex models using hierarchical representations. We highlight the performance of our algorithms with various convex and non-convex shapes on complex synthetic benchmarks and trajectory planning benchmarks for a 7-DOF Fetch robot arm.

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