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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
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:18
,
Issue:
3
)
Date of Publication: Jun 2002
- Page(s):
- 393 - 398
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 7340349
- Digital Object Identifier :
- 10.1109/TRA.2002.1019476
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 07 August 2002
- Issue Date :
- Jun 2002
- Sponsored by :
- IEEE Robotics and Automation Society
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