By Topic

A fast growth distance algorithm for incremental motions

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Chong-Jin Ong ; Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore ; E. Huang ; Sun-Mog Hong

A fast algorithm is presented for computing the growth distance between a pair of convex objects in three-dimensional space. The growth distance is a measure of both separation and penetration between objects. When the objects are polytopes represented by their faces, the growth distance is determined by the solution of a linear program (LP). The article presents an approach to the solution of the LP. Under appropriate conditions, the computational time is very small and does not depend on the total number of faces of the objects. Compared to the existing algorithm for growth distance, there is a time reduction of several orders of magnitude. This increase in speed is achieved by exploiting two resources: adjacency of the object faces and the computational coherence induced by incremental motions of the objects, Computational experiments show that the performance of the algorithm is in the same range as the fastest codes for the computation of the Euclidean separation distance

Published in:

IEEE Transactions on Robotics and Automation  (Volume:16 ,  Issue: 6 )