Speeding up interference detection between polyhedra

A classical paradigm for interference detection between polyhedra consists in testing all edges of one polyhedron against all faces of the other one for intersection. If the relative orientation of the polyhedra is fixed, only certain edge-face pairs can intersect first, when the polyhedra come into contact. These candidate pairs are efficiently determined using a representation which the authors call spherical face orientation graph. By applying the interference test to candidates only, the computational effort is significantly reduced, as shown by experimental results with convex polyhedra. In the non-convex case, the strategy is conservative, but it still leads to savings.

Authors

• Pablo Jiménez
• Carme Torras

Keywords

• Interference
• Testing
• Face detection
• Performance evaluation
• Motion detection
• Robot motion
• Motion planning
• Strategic planning
• Contracts
• Computational efficiency
• Interference Detection
• Relative Orientation
• Convex Polytope
• Candidate Pairs
• True Value
• Previous Step
• Tetrahedral
• General Case
• Generation Algorithm
• Path Planning
• Local Application
• Bipyramidal
• Collision Detection
• Half-plane
• Hierarchical Representation
• Great Circle
• Test Element
• Convex Case