GCCD-PT

Generalized Continuous Collision Detection Framework of Polynomial Trajectory

This repository is the source code of the paper "A Generalized Continuous Collision Detection Framework of Polynomial Trajectory for Mobile Robots in Cluttered Environments." RA-L with IROS 2022 (DOI: 10.1109/LRA.2022.3191934).

• PDF: https://arxiv.org/abs/2206.13175

• DOI: https://ieeexplore.ieee.org/document/9833268

• Project: https://sites.google.com/view/gccd-pt/site

• RA-L Video: https://www.bilibili.com/video/BV19t4y1b7av?share_source=copy_web

• IROS 2022 (EN): https://www.bilibili.com/video/BV148411b7t2/?share_source=copy_web&vd_source=6e79c82bafd69d6d89e266880bc4c8c3

• IROS 2022 (CN): https://www.bilibili.com/video/BV14d4y127Kk/?share_source=copy_web&vd_source=6e79c82bafd69d6d89e266880bc4c8c3

News

• The v1.3 is released: Exp. on CCD for the quadrotor with polyhedra (defined by triangle mesh).

Test Environment

• Windows 10
• MATLAB R2022a (R2017a and later should be ok as well.)

Prerequisites (Optional)

You may be informed to install the following toolboxes by MATLAB (if any).

• Optimization
• Image Processing

Install

1. Fork the GCCD-PT repository onto your github account and then clone this repository.
2. Open MATLAB.
3. Find and change direction to the GCCD-PT folder.
4. Run initialize_GCCD_PT.m.
5. Enjoy it after seeing ---- GCCD-PT Initialized Successfully ---- in the command window.

Get Started

• Run example files in the script folder. For example:

Citation

If you find the codes and/or paper are helpful, you can star this repository and cite our paper:

@article{zhang2022generalized,
  title={A Generalized Continuous Collision Detection Framework of Polynomial Trajectory for Mobile Robots in Cluttered Environments},
  author={Zhang, Zeqing and Zhang, Yinqiang and Han, Ruihua and Zhang, Liangjun and Pan, Jia},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={4},
  pages={9810--9817},
  year={2022},
  publisher={IEEE}
}

Enquiry:

As an open source library, any problem/feedback/issue/bug are welcome.

Contact: Benji Z. Zhang (zzqing@connect.hku.hk)