Title :
An algebraic solution to the problem of collision detection for rigid polyhedral objects
Author :
Redon, S. ; Kheddar, A. ; Coquillart, S.
Author_Institution :
Inst. Nat. de Recherche en Inf. et Autom., Le Chesnay, France
Abstract :
This paper describes a new collision detection algorithm designed for interactive manipulation in virtual environments. Making some assumptions on object motion, the collision time between two objects can be computed by solving a polynomial equation whose degree is equal to or smaller than three
Keywords :
collision avoidance; computational geometry; manipulators; polynomials; algebraic solution; collision detection; interactive manipulation; object motion; polynomial equation; rigid polyhedral objects; virtual environments; Application software; Computer graphics; Design methodology; Equations; Motion detection; Motion planning; Object detection; Polynomials; Robot motion; Virtual environment;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845313
