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A FAST ALGORITHM FOR DIRECT DETERMINING THE DISTANCE BETWEEN CONVEX POLYHEDRA

Youlun Xiong

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Abstract

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 J0 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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What this paper is about

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 J0 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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Available abstract

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 J0 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.

Key concepts: Polyhedron, Computer science, Convex polytope, Regular polygon, Algorithm, Enhanced Data Rates for GSM Evolution, Point (geometry), Convex hull

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