Title :
A fast procedure for computing the distance between complex objects in three-dimensional space
Author :
Gilbert, Elmer G. ; Johnson, Daniel W. ; Keerthi, S. Sathiya
Author_Institution :
Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA
fDate :
4/1/1988 12:00:00 AM
Abstract :
An algorithm for computing the Euclidean distance between a pair of convex sets in Rm is described. Extensive numerical experience with a broad family of polytopes in R3 shows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which makes its application in a variety of robotics problems attractive. These features are discussed and an example of collision detection is given
Keywords :
computational geometry; Euclidean distance; collision detection; computational cost; computational geometry; robotics; three-dimensional space; Algorithm design and analysis; Application software; Computational efficiency; Computer graphics; Euclidean distance; Iterative algorithms; Length measurement; Linear approximation; Mathematical model; Orbital robotics;
Journal_Title :
Robotics and Automation, IEEE Journal of
