An overview on distance and pseudo distance functions and their applications  

作　　者：ZHUXiangyang DINGHan ZHONGBinglin XlONGYoulun 

机构地区：[1]SchoolofMechanicalEngineering,ShanghaiJiaotongUniversity,Shanghai200030,China [2]BeijingNormalUniversity,Beijing100875,China [3]SchoolofMechanicalEngineering,HuazhongUniversityofScienceandTechnology,Wuhan430074,China

出　　处：《Chinese Science Bulletin》2003年第16期1686-1695,共10页

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.50175014,50390063 and 59990470).

摘　　要：The fast and accurate collision detection and distance calculation between geometric models is fundamen-tal in robotics, manufacturing and computer-simulated en-vironments. This paper surveys the state of the art in the theory and algorithms of distance and pseudo distance func-tions between convex sets. An overview on the existing results, including fast algorithms for distance calculation, definitions and properties of various pseudo distance functions (the J-function, the growth distance, and the pseudo minimum translational distance), is presented. The distance and pseudo distance functions are versatile in a wide range of areas. Their applications in robot motion planning, grasp analy-sis/synthesis, form error evaluation, and engineering optimi-zation is demonstrated.The fast and accurate collision detection and distance calculation between geometric models is fundamen-tal in robotics, manufacturing and computer-simulated en-vironments. This paper surveys the state of the art in the theory and algorithms of distance and pseudo distance func-tions between convex sets. An overview on the existing results, including fast algorithms for distance calculation, definitions and properties of various pseudo distance functions (the J-function, the growth distance, and the pseudo minimum translational distance), is presented. The distance and pseudo distance functions are versatile in a wide range of areas. Their applications in robot motion planning, grasp analy-sis/synthesis, form error evaluation, and engineering optimi-zation is demonstrated.

关 键 词：位移计算 几何模型 机器人技术 制造业 计算机模拟技术 快速运算法则 工程最优化 多面体 

分 类 号：TP1[自动化与计算机技术—控制理论与控制工程]