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Hough transform for distance computation and collision avoidance

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2 Author(s)
Bernabeu, E.J. ; Dept. de Ingenieria de Sistemas y Automatica, Univ. Politecnica de Valencia, Spain ; Tornero, Josep

A new technique for collision detection based on the application of the Hough transform is presented in this paper. As a consequence of applying this technique, a method for computing the minimum translational distance (MTD) between two spherically extended polytopes is introduced. This distance algorithm is based on the Gilbert-Johnson-Keerthi (GJK) algorithm. Parameters returned by the MTD algorithm hold collision-free configurations that avoid a predicted collision

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Robotics and Automation, IEEE Transactions on  (Volume:18 ,  Issue: 3 )