{"title":"计算三维空间中复杂物体之间距离的快速程序","authors":"","doi":"10.1109/56.2083","DOIUrl":null,"url":null,"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. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1435","resultStr":"{\"title\":\"A fast procedure for computing the distance between complex objects in three-dimensional space\",\"authors\":\"\",\"doi\":\"10.1109/56.2083\",\"DOIUrl\":null,\"url\":null,\"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. >\",\"PeriodicalId\":370047,\"journal\":{\"name\":\"IEEE J. Robotics Autom.\",\"volume\":\"9 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-04-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1435\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE J. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/56.2083\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/56.2083","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A fast procedure for computing the distance between complex objects in three-dimensional space
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. >
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