DocumentCode
2192722
Title
Enhancing GJK: computing minimum and penetration distances between convex polyhedra
Author
Cameron, Stephen
Author_Institution
Comput. Lab., Oxford Univ., UK
Volume
4
fYear
1997
fDate
20-25 Apr 1997
Firstpage
3112
Abstract
The problem of tracking the distance between two convex polyhedra is finding applications in many areas of robotics, including intersection detection, collision detection, and path planning. We present new results that confirm an almost-constant time complexity for an enhanced version of Gilbert, Johnson and Keerthi´s (GJK) algorithm, and also describe modifications to the algorithm to compute measures of penetration distance
Keywords
computational complexity; computational geometry; path planning; robots; tracking; GJK algorithm; Gilbert-Johnson-Keerthi algorithm; collision detection; configuration space; convex polyhedra; minimum distance; path planning; penetration distance; robotics; time complexity; Algorithm design and analysis; Analytical models; Computational modeling; Laboratories; Object detection; Orbital robotics; Path planning; Road accidents; Robots; Time measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.606761
Filename
606761
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