Distance bound for nonconvex polyhedral models in close proximity
P. Jiménez, Carme Torras · Journal of Robotic Systems · 2006
Abstract In many applications, it suffices to know a lower bound on the distance between objects, instead of the exact distance itself, which may be more difficult to compute. Such an easy‐to‐compute lower bound on the distance between two nonconvex polyhedra is presented here, which does not require a decomposition of the original polyhedra into convex entities. Furthermore, a suitable preprocessing of the polyhedra permits lowering the effort needed to compute this lower bound, and improves its quality. Experimental evidence is presented of the promise of this approach for assembly applications. © 2006 Wiley Periodicals, Inc.