A Generalized Continuous Collision Detection Framework of Polynomial Trajectory for Mobile Robots in Cluttered Environments

In this letter, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along polynomial trajectory in cluttered environments including various static obstacle models. Specifically, find that conditions between robots and obstacles could be transformed into set of inequalities, whose roots can efficiently solved by proposed solver. addition, test different types with kinematic dynamic constraints our CCD validate it allows provable checking compute exact time impact. Furthermore, combine architecture path planner navigation system. Benefiting from method, is able to work safely some challenging scenarios.