What algorithm to use for collision avoidance of a robot?
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Sam Chak on 9 Nov 2022
I'm unsure. Maybe you intend to tell the robot to "back down" or retract the arm?
Conventionally, RRT is an "offline" path-finding algorithm that falls under the motion planning category. It does not intelligently tell the robot to avoid the obstacle that suddenly pops up in front of them.
What the robot needs in such situation is a reactive algorithm.
Generally in the collision avoidance algorithm, you should do a collision velocity check and identify a reasonable warning distance threshold.