The fast and accurate collision detection and distance calculation between geometric models is fundamen-tal in robotics, manufacturing and computer-simulated en-vironments. This paper surveys the state of the art in t...The fast and accurate collision detection and distance calculation between geometric models is fundamen-tal in robotics, manufacturing and computer-simulated en-vironments. This paper surveys the state of the art in the theory and algorithms of distance and pseudo distance func-tions between convex sets. An overview on the existing results, including fast algorithms for distance calculation, definitions and properties of various pseudo distance functions (the J-function, the growth distance, and the pseudo minimum translational distance), is presented. The distance and pseudo distance functions are versatile in a wide range of areas. Their applications in robot motion planning, grasp analy-sis/synthesis, form error evaluation, and engineering optimi-zation is demonstrated.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.50175014,50390063 and 59990470).
文摘The fast and accurate collision detection and distance calculation between geometric models is fundamen-tal in robotics, manufacturing and computer-simulated en-vironments. This paper surveys the state of the art in the theory and algorithms of distance and pseudo distance func-tions between convex sets. An overview on the existing results, including fast algorithms for distance calculation, definitions and properties of various pseudo distance functions (the J-function, the growth distance, and the pseudo minimum translational distance), is presented. The distance and pseudo distance functions are versatile in a wide range of areas. Their applications in robot motion planning, grasp analy-sis/synthesis, form error evaluation, and engineering optimi-zation is demonstrated.
