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

被引：44
|
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
收藏
页码：915 / 920
页数：6
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