Fast Collision Detection Through Bounding Volume Hierarchies in Workspace-Time Space for Sampling-Based Motion Planners

July 1, 2015 in ETHZ-ASL, Publications, year 4 by Ulrich Schwesinger

U. Schwesinger, P. Furgale, and R. Siegwart

IEEE International Conference on Intelligent Robots and Systems (ICRA), 2015


This paper presents a fast collision-detection method for sampling-based
motion planners based on bounding volume hierarchies in workspace-time
space. By introducing time as an additional dimension to the robot’s workspace,
the method is able to quickly evaluate time-indexed candidate trajectories for
collision with the known future motions of other agents. The approach makes no
assumptions on the shape of the objects and is able to handle arbitrary motions.
We highlight implementation details regarding the application of the collision
detection technique within an online planning framework for automated
driving. Furthermore, we give detailed profiling information to show the
capability for real-time operation.

@article{Schwesinger2015,
author = {Schwesinger, U and Siegwart, R and Furgale, P},
journal = {Proc. of the IEEE International Conference on Robotics and Automation},
title = {{Fast Collision Detection Through Bounding Volume Hierarchies in Workspace-Time Space for Sampling-Based Motion Planners}},
year = {2015},
month = {May}
}