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
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Efficient Algorithm ,
- Convex Set ,
- Collision Detection ,
- Computation Time ,
- Production Rate ,
- Form Of Representation ,
- Line Segment ,
- Path Planning ,
- Sphere Of Radius ,
- Object-oriented ,
- Object Position ,
- Compact Set ,
- Numerical Errors ,
- Near Point ,
- Convex Polytope ,
- Distance Algorithm ,
- Finite Set Of Points ,
- Affine Space ,
- Shape Family
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Efficient Algorithm ,
- Convex Set ,
- Collision Detection ,
- Computation Time ,
- Production Rate ,
- Form Of Representation ,
- Line Segment ,
- Path Planning ,
- Sphere Of Radius ,
- Object-oriented ,
- Object Position ,
- Compact Set ,
- Numerical Errors ,
- Near Point ,
- Convex Polytope ,
- Distance Algorithm ,
- Finite Set Of Points ,
- Affine Space ,
- Shape Family
