• DocumentCode
    880618
  • 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
  • Volume
    4
  • Issue
    2
  • fYear
    1988
  • fDate
    4/1/1988 12:00:00 AM
  • Firstpage
    193
  • Lastpage
    203
  • 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;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Journal of
  • Publisher
    ieee
  • ISSN
    0882-4967
  • Type

    jour

  • DOI
    10.1109/56.2083
  • Filename
    2083
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=880618