Real Time Collision Avoidance with GPU-Computed Distance Maps
This paper presents reactive obstacle and self-collision avoidance of redundant robotic manipulators within real time kinematic feedback control using GPU-computed distance transform. The proposed framework utilizes discretized representation of the robot and the environment to calculate 3D Euclidean distance transform for task-priority based kinematic control.
Evidence notes
- Experiments use TIAGo as the physical evaluation platform.
- The reported results provide an independent evaluation on TIAGo hardware.
Company context
Develops service and humanoid robots for research, industrial, and public-facing environments, with a focus on modular platforms and long-term deployment in real-world settings.