Title :
On computing a distance measure for path planning
Author :
Sridharan, K. ; Stephanou, H.E. ; Keerthi, S.S.
Author_Institution :
New York State Center for Adv. Technol. in Autom. & Robotics, Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
Given two objects, A and B, such that A∩B≠θ, the authors define a measure to characterize the penetration between A and B. They present fast algorithms for computing the measure for planar and polyhedral objects and demonstrate how the measure can be used in collision detection for path planning
Keywords :
path planning; set theory; collision detection; distance measure; interpenetration; path planning; penetration characterization; planar objects; polyhedral objects; Computer science; Euclidean distance; Linear programming; Motion measurement; Object detection; Path planning; Robot motion; Robotics and automation;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292037
