A FAST ALGORITHM FOR DIRECT DETERMINING THE DISTANCE BETWEEN CONVEX POLYHEDRA

This paper presents a fast algorithm for direct calculating the distance between convex polyhedra which is used for task planning in general robot off-line programming and simulation system named HOLPSS. This method of distance calculation is developed by direct calculating the distance between edges of convex polyhedron and using J_o function to solve point location problem. Data structure for representing the convex polyhedron is double connected edge list, which is efficient for implementing this algorithm.