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Collision avoidance based on separating planes for feet trajectory generation

Stanislas Brossette 1 Pierre-Brice Wieber 2
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : In this paper, we present a formulation of the collision avoidance constraints that relies on the use of separating planes instead of a distance function. This formulation has the advantage of being defined and continuously differentiable in every situation. Because it introduces additional variables to the optimization problems, making it bigger and potentially slowing down its resolution, we propose a different resolution method that takes advantage of the independence of the variables, to form two subproblems that can be solved efficiently in an alternate problem fashion. We present some preliminary results using this approach in order to highlight its potential and promises in terms of convergence speed and robustness.
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Stanislas Brossette, Pierre-Brice Wieber. Collision avoidance based on separating planes for feet trajectory generation. Humanoids 2017 - IEEE RAS International Conference on Humanoid Robots , Nov 2017, Birmingham, United Kingdom. pp.509-514, ⟨10.1109/HUMANOIDS.2017.8246920⟩. ⟨hal-01639745⟩

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