Fast motion planning collision detection

Abstract

Techniques described herein include a system and methods for implementing fast motion planning of collision detection. In some embodiments, an area voxel map is generated with respect to a three-dimensional space within which a repositioning event is to occur. A number of movement voxel maps are then identified as being related to potential repositioning options. The area voxel map is then compared to each of the movement voxel maps to identify collisions that may occur with respect to the repositioning options. In some embodiments, each voxel map includes a number of bits which each represent voxels in a volume of space. The comparison between the area voxel map and each of the movement voxel maps may include a logical conjunction (e.g., an AND operation). Movement voxel maps for which the comparisons result includes a value of 1 are then removed from a set of valid repositioning options.