论文标题
通过尺度优化评估全身碰撞评估的线性和精确算法
A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization
论文作者
论文摘要
碰撞评估在各种应用中至关重要。但是，现有方法要么很麻烦地计算出实际值的差距。在本文中，我们提出了一个零隙的全身碰撞评估，该评估可以作为低维线性程序的配方。该评估可以在O（M）计算时间中进行分析解决，其中M是该线性程序中线性不平等的总数。此外，提出的方法有效地获得了其梯度，因此可以轻松地应用于基于优化的应用程序。
Collision evaluation is of vital importance in various applications. However, existing methods are either cumbersome to calculate or have a gap with the actual value. In this paper, we propose a zero-gap whole-body collision evaluation which can be formulated as a low dimensional linear program. This evaluation can be solved analytically in O(m) computational time, where m is the total number of the linear inequalities in this linear program. Moreover, the proposed method is efficient in obtaining its gradient, making it easy to apply to optimization-based applications.
