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

  • 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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