Efficient Distance Computation between Non-Convex Objects (1994)
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| Venue: | In Proceedings of International Conference on Robotics and Automation |
| Citations: | 181 - 0 self |
BibTeX
@INPROCEEDINGS{Quinlan94efficientdistance,
author = {Sean Quinlan},
title = {Efficient Distance Computation between Non-Convex Objects},
booktitle = {In Proceedings of International Conference on Robotics and Automation},
year = {1994},
pages = {3324--3329}
}
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Abstract
This paper describes an efficient algorithm for computing the distance between non-convex objects. Objects are modeled as the union of a set of convex components. From this model we construct a hierarchical bounding representation based on spheres. The distance between objects is determined by computing the distance between pairs of convex components using preexisting techniques. The key to efficiency is a simple search routine that uses the bounding representation to ignore most of the possible pairs of components. The efficiency can further be improved by accepting a relative error in the returned result. Several empirical trials are presented to examine the performance of the algorithm. 1. Introduction Computing the distance between objects is a common problem in robotics. Using a mathematical model of two objects, we find a point on each object such that the distance between the points is minimized. If one object is a robot and the other object is the union of all the obstacles i...
