DocumentCode :
2538820
Title :
A fast procedure for computing the distance between complex objects in three space
Author :
Gilbert, E.G. ; Johnson, D.W. ; Keerthi, S.S.
Author_Institution :
The University of Michigan, Ann Arbor, Michigan
Volume :
4
fYear :
1987
fDate :
31837
Firstpage :
1883
Lastpage :
1889
Abstract :
An efficient and reliable algorithm for computing the Euclidean distance between a pair of convex sets in Rmdescribed. Extensive numerical experience with a broad family of polytopes in Rsshows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which make its application in a variety of robotics problems attractive. These are discussed and an example of collision detection is given.
Keywords :
Algorithm design and analysis; Combinatorial mathematics; Computational geometry; Computer graphics; Costs; Euclidean distance; Hafnium; Mathematical programming; Orbital robotics; Quadratic programming;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type :
conf
DOI :
10.1109/ROBOT.1987.1087825
Filename :
1087825
Link To Document :
https://search.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=2538820
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