Abstract:
An algorithm for computing the Euclidean distance between a pair of convex sets in R/sup m/ is described. Extensive numerical experience with a broad family of polytopes ...Show MoreMetadata
Abstract:
An algorithm for computing the Euclidean distance between a pair of convex sets in R/sup m/ is described. Extensive numerical experience with a broad family of polytopes in R/sup 3/ 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: IEEE Journal on Robotics and Automation ( Volume: 4, Issue: 2, April 1988)
DOI: 10.1109/56.2083
