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Browse Journals & Magazines > Robotics and Automation, IEEE ...> Volume:4 Issue:2 Help

A fast procedure for computing the distance between complex objects in three-dimensional space

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3 Author(s)
Gilbert, E.G. ; Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA ; Johnson, D.W. ; Keerthi, S.S.

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

Published in:
Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 2 )

Date of Publication: Apr 1988

Page(s):
193 - 203
ISSN :
0882-4967
INSPEC Accession Number:
3182747
Digital Object Identifier :
10.1109/56.2083
Product Type:
Journals & Magazines
Date of Current Version :
06 August 2002
Issue Date :
Apr 1988
Sponsored by :
IEEE Robotics and Automation Society

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