A fast procedure for computing the distance between complex objects in three space
Éric Gilbert, Daniel Johnson, Sathiya Keerthi · 2005
An efficient and reliable algorithm for computing the Euclidean distance between a pair of convex sets in Rmdescribed. Extensive numerical experience with a broad family of polytopes in Rsshows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which make its application in a variety of robotics problems attractive. These are discussed and an example of collision detection is given.