Estimate of minimum distance between convex polyhedra based on enclosed ellipsoids

被引：0
|
作者：
Shiang, SP [1 ]
Liu, JS [1 ]
Chien, YR [1 ]
机构：
[1] Acad Sinica, Inst Informat Sci, Taipei 11529, Taiwan
来源：
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS | 2000年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A tight estimate of upper and lower bounds of the distance between convex polyhedra based on the best ellipsoid fit is proposed in the paper Estimated distance is mainly based on enclosed ellipsoids, instead of minimum volume enclosing ellipsoids. We provide an algorithm for computing enclosed ellipsoid of convex polyhedron by the use of its best fit enclosing ellipsoid. By this estimate, the collision-free region could be much larger than and the detection of potential collisions can be more accurate than that of using enclosing ellipsoids. A numerical example is presented to show the tightness of upper and lower distance estimate based on enclosed ellipsoids.
引用
收藏
页码：739 / 744
页数：6
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