DocumentCode :
3177662
Title :
A fast distance calculation between convex objects by optimization approach
Author :
Zeghlou, S. ; Rambeaud, P. ; Lallemand, J.P.
Author_Institution :
Lab. de Mecanique des Solides, Poitiers Univ., France
fYear :
1992
fDate :
12-14 May 1992
Firstpage :
2520
Abstract :
The authors describe an efficient and fast algorithm for finding the minimum distance between two convex polyhedrons in three-dimensional space. To obtain the minimal distance, the proposed computational scheme is based on a direct approach to minimize the distance function which produces a succession of optimal search directions along the boundary of the objects. This algorithm combines the gradient projection method (Rosen, 1960) and an additional optimal search direction when the gradient projection method leads to a zigzagging phenomenon. In this case, the additional optimal search direction accelerates significantly the convergence of the process. Extensive numerical experiments with convex polyhedra showed the performance of the algorithm when compared with previous approaches
Keywords :
computational geometry; optimisation; path planning; search problems; convergence; convex polyhedrons; fast distance calculation; gradient projection method; optimal search directions; optimization; path planning; Convergence; Equations; Hypercubes; Legged locomotion; Object detection; Optimization methods; Path planning; Projection algorithms; Quadratic programming; Robot programming;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
Type :
conf
DOI :
10.1109/ROBOT.1992.220062
Filename :
220062
Link To Document :
بازگشت