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An improved Gilbert algorithm with rapid convergence
Chang, L; Qiao, H; Wan, AH; Keane, J
2006
会议名称IEEE/RSJ International Conference on Intelligent Robots and Systems
会议录名称2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12
会议日期OCT 09-13, 2006
会议地点Beijing, PEOPLES R CHINA
摘要Gilbert algorithm is a very popular algorithm in collision detection in robotics and also in classification in pattern recognition. However, the major drawback of Gilbert algorithm is that in many cases it becomes very slow as it approaches the final solution and the vertices selection vibrates in these cases.

In this paper,

a) We prove theoretically that when the selection of vertices vibrates among several points, the algorithm will converge to the hyperplane determined by these points.

b) Based on the above results, an improved Gilbert algorithm for computing the distance between two convex polytopes is presented. The algorithm can avoid the slow convergence of the original one. Numerical simulation results demonstrate the effectiveness and advantage of the improved algorithm.
关键词Gilbert Algorithm Nearest Point Collision Detection
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12854
专题09年以前成果
通讯作者Chang, L
推荐引用方式
GB/T 7714
Chang, L,Qiao, H,Wan, AH,et al. An improved Gilbert algorithm with rapid convergence[C],2006.
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