• DocumentCode
    2538820
  • Title

    A fast procedure for computing the distance between complex objects in three space

  • Author

    Gilbert, E.G. ; Johnson, D.W. ; Keerthi, S.S.

  • Author_Institution
    The University of Michigan, Ann Arbor, Michigan
  • Volume
    4
  • fYear
    1987
  • fDate
    31837
  • Firstpage
    1883
  • Lastpage
    1889
  • Abstract
    An efficient and reliable algorithm for computing the Euclidean distance between a pair of convex sets in Rmdescribed. Extensive numerical experience with a broad family of polytopes in Rsshows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which make its application in a variety of robotics problems attractive. These are discussed and an example of collision detection is given.
  • Keywords
    Algorithm design and analysis; Combinatorial mathematics; Computational geometry; Computer graphics; Costs; Euclidean distance; Hafnium; Mathematical programming; Orbital robotics; Quadratic programming;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation. Proceedings. 1987 IEEE International Conference on
  • Type

    conf

  • DOI
    10.1109/ROBOT.1987.1087825
  • Filename
    1087825
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2538820