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For letting mobile robots travel flexibly through complicated environments,increasing attention has been paid to the whole-body collision evaluation. Mostexisting works either opt for the conservative corridor-based methods thatimpose strict requirements on the corridor generation, or ESDF-based methodsthat suffer from high computational overhead. It is still a great challenge toachieve fast and accurate whole-body collision evaluation. In this paper, wepropose a Robo-centric ESDF (RC-ESDF) that is pre-built in the robot body frameand is capable of seamlessly applied to any-shape mobile robots, even for thosewith non-convex shapes. RC-ESDF enjoys lazy collision evaluation, which retainsonly the minimum information sufficient for whole-body safety constraint andsignificantly speeds up trajectory optimization. Based on the analyticalgradients provided by RC-ESDF, we optimize the position and rotation of robotjointly, with whole-body safety, smoothness, and dynamical feasibility takeninto account. Extensive simulation and real-world experiments verified thereliability and generalizability of our method.

Robo-centric ESDF: A Fast and Accurate Whole-body Collision Evaluation Tool for Any-shape Robotic Planning