引用本文: 秦志强, 熊有伦. -个直接计算多面体之间距离的快速算法[J]. 机器人, 1996, 18(1): 1-6,10.
QIN Zhiqiang, XIONG Youlun. A FAST ALGORITHM FOR DIRECT DETERMINING THE DISTANCE BETWEEN CONVEX POLYHEDRA[J]. ROBOT, 1996, 18(1): 1-6,10.
 Citation: QIN Zhiqiang, XIONG Youlun. A FAST ALGORITHM FOR DIRECT DETERMINING THE DISTANCE BETWEEN CONVEX POLYHEDRA[J]. ROBOT, 1996, 18(1): 1-6,10.

## A FAST ALGORITHM FOR DIRECT DETERMINING THE DISTANCE BETWEEN CONVEX POLYHEDRA

• 摘要: 在机器人离线编程及仿真系统中，如何快速确定多面体之间的距离对无碰路径规划，细微运动规划和装配运动规划都有十分重要的意义．本文介绍了通用的机器人离线编程及仿真系统HOLPSS中计算多面体之间距离的-个有效算法．该方法通过直接计算凸多面体部分棱边之间的距离来确定多面体之间的距离，并利用了Jo函数来判别空间直线段与凸多面体是否有交．算法的完成依赖于表示凸多面体拓扑结构的双重连接边表（Double Connected Edge List-DCEL）的建立．本文还给出了该算法的时间复杂性及计算的实例．这-算法将用来为无碰路径规划，精细运动规划和装配运动规划建立统-的空间推理方法．

Abstract: 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 Jo 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.

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