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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 )