A fast algorithm for incremental distance calculation
Lin, M.C.
Canny, J.F.
California Univ., Berkeley, CA;
This paper appears in: Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Publication Date: 9-11 Apr 1991
On page(s): 1008-1014 vol.2
Meeting Date: 04/09/1991 - 04/11/1991
Location: Sacramento, CA, USA
ISBN: 0-8186-2163-X
References Cited: 19
INSPEC Accession Number: 4102044
Digital Object Identifier: 10.1109/ROBOT.1991.131723
Current Version Published: 2002-08-06
Abstract
A simple and efficient algorithm for finding the closest points
between two convex polynomials is described. Data from numerous
experiments tested on a broad set of convex polyhedra on
R3 show that the running time is roughly constant
for finding closest points when nearest points are approximately known
and is linear in total number of vertices if no special initialization
is done. This algorithm can be used for collision detection, computation
of the distance between two polyhedra in three-dimensional space, and
other robotics problems. It forms the heart of the motion planning
algorithm previously presented by the authors (Proc. IEEE ICRA,
p.1554-9, 1990)
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