A comparison of two fast algorithms for computing the distance between convex polyhedra

被引：45

作者：

Cameron, S ^{[1
]}

机构：

[1] Univ Oxford, Comp Lab, Oxford OX1 3QD, England

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1997年 / 13卷 / 06期

基金：

英国工程与自然科学研究理事会;

关键词：

closest-points; convex polyhedra; distance computations; simulation; tracking;

D O I：

10.1109/70.650170

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of tracking the distance between two convex polyhedra is finding applications in many areas of robotics. The algorithm of Lin and Canny is a well-known fast solution to this: problem, but by recasting the algorithms into configuration space, we show that a minor modification to the earlier algorithm of Gilbert, Johnson, and Keerthi also gives this algorithm the same expected cost.

引用

页码：915 / 920

页数：6

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