Process

Collision checking

You might say: collision detection

Collision checking tests whether robot geometry intersects obstacles or itself at a configuration or along a path segment.

What it does
Rejects invalid states and edges inside a motion planner.
Ask
What padding, collision meshes, and continuous checks are needed for this speed?
Typical
Simplified collision geometry and safety padding trade computation time against conservatism.

Connections

Sources

  1. MoveIt, Motion Planning Concepts, Motion plan requestCollisions are checked for by default (including self-collisions and attached objects).
  2. OMPL, Planner and State-Validation Documentation, State validity checkingIf continuous collision checking is available, it is recommended that a different implementation of ompl::base::MotionValidator is provided, one that does not rely on discretizing the motion at a specific resolution.

Use it on your project

teardown-apply: hold "Collision checking" (collision-checking) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

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