A fast algorithm for incremental distance calculation

A simple and efficient algorithm for finding the closest points between two convex polynomials is described. Data from numerous experiments tested on a broad set of convex polyhedra on R/sup 3/ show that the running time is roughly constant for finding closest points when nearest points are approximately known and is linear in total number of vertices if no special initialization is done. This algorithm can be used for collision detection, computation of the distance between two polyhedra in three-dimensional space, and other robotics problems. It forms the heart of the motion planning algorithm previously presented by the authors (Proc. IEEE ICRA, p. 1554-9, 1990). >

Authors

• Ming Lin 0003
• John F. Canny

Keywords

• Testing
• Orbital robotics
• Heart
• Motion planning
• Tracking
• History
• Linear programming
• Running Time
• Time Constant
• Dimensional Space
• Chain Complexes
• Processing Procedures
• Path Planning
• Linear Time
• Application Of Criteria
• Application Conditions
• Pair Of Points
• Closest Point
• Advantage Of The Fact
• Nearest Point
• Feature Pairs
• Collision Detection
• Pair Of Vertices
• Polytope
• Algorithm In This Paper
• Convex Polytope