Conference proceeding
Proximity Queries for Absolutely Continuous Parametric Curves
Robotics: Science and Systems XV
02/13/2019
DOI: 10.15607/RSS.2019.XV.042
Abstract
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is generally non-convex and serves as a significant computational bottleneck for motion planning algorithms. In this paper, we present methods for a general class of absolutely continuous parametric curves to compute: (i) the minimum separating distance, (ii) tolerance verification, and (iii) collision detection. Our methods efficiently compute bounds on obstacle proximity by bounding the curve in a convex region. This bound is based on an upper bound on the curve arc length that can be expressed in closed form for a useful class of parametric curves including curves with trigonometric or polynomial bases. We demonstrate the computational efficiency and accuracy of our approach through numerical simulations of several proximity problems.
Details
- Title: Subtitle
- Proximity Queries for Absolutely Continuous Parametric Curves
- Creators
- Arun Lakshmanan - University of Illinois Urbana-ChampaignAndrew Patterson - University of Illinois Urbana-ChampaignVenanzio Cichella - University of IowaNaira Hovakimyan - University of Illinois Urbana-Champaign
- Resource Type
- Conference proceeding
- Publication Details
- Robotics: Science and Systems XV
- DOI
- 10.15607/RSS.2019.XV.042
- Language
- English
- Date published
- 02/13/2019
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984201538802771
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