Collision Detection for Moving Polyhedra
IEEE Transactions on Pattern Analysis and Machine Intelligence
Approximating polyhedra with spheres for time-critical collision detection
ACM Transactions on Graphics (TOG)
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
A fast and robust GJK implementation for collision detection of convex objects
Journal of Graphics Tools
Planning Algorithms
Velocity-Aligned Discrete Oriented Polytopes for Dynamic Collision Detection
IEEE Transactions on Visualization and Computer Graphics
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
IEEE Transactions on Robotics
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A fast and complete collision-detection procedure is presented in this paper. Given a straight-line path for a mobile robot, the current instant of time, and estimations of the obstacles motions, a set of speeds is obtained in real time with neither space nor time discretization. The mobile-robot path together with each one of these speeds, if they exist, states a different collision-free trajectory. All these trajectories verify that the minimum distance between the mobile robot and the obstacles at anytime is greater than or equal to a configurable parameter. This set of speeds is fast updated when a change in the original mobile-robot path is considered. If the current mobile-robot speed does not belong to the mentioned set of speeds, then the mobile robot will collide with at least one obstacle and, in this case, a set of accelerations is fast-tuned to avoid all the obstacles. Collision-free trajectories that do not verify the dynamic constraints of the mobile robot are simply rejected.