Computation of Collision Distance and Gradient using an Automatic Sphere Approximation of the Robot Model with Bounded Error

Konferenz: ISR 2018 - 50th International Symposium on Robotics
20.06.2018 - 21.06.2016 in München, Germany

Tagungsband: ISR 2018

Seiten: 8Sprache: EnglischTyp: PDF

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Voelz, Andreas; Graichen, Knut (Institute of Measurement, Control and Microtechnology, Ulm University, Ulm, Germany)

This paper presents a method for computing the distance to collision and its gradient, which is a time-critical part of optimization-based motion planners like CHOMP. The computation is based on a sphere approximation of the robot model and an Euclidean distance transformation of the voxelized environment. As speed and accuracy depend on the number of spheres, an algorithm is proposed for error-bounded approximation of a simplified robot model.