Collision Detection for Moving Polyhedra

dc.creator	Canny, John
dc.date	2004-10-01T20:17:19Z
dc.date	2004-10-01T20:17:19Z
dc.date	1984-10-01
dc.date.accessioned	2013-10-09T02:40:22Z
dc.date.available	2013-10-09T02:40:22Z
dc.date.issued	2013-10-09
dc.identifier	AIM-806
dc.identifier	http://hdl.handle.net/1721.1/5621
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	We consider the problem of moving a three dimensional solid object among polyhedral obstacles. The traditional formulation of configuration space for this problem uses three translational parameters and three angles (typically Euler angles), and the constraints between the object and obstacles involve transcendental functions. We show that a quaternion representation of rotation yields constraints which are purely algebraic in a higher-dimensional space. By simple manipulation, the constraints may be projected down into a six dimensional space with no increase in complexity. Using this formulation, we derive an efficient exact intersection test for an object which is translating and rotating among obstacles.
dc.format	17 p.
dc.format	1836593 bytes
dc.format	1296892 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-806
dc.subject	collision detection
dc.subject	collision avoidance
dc.subject	motion planning
dc.subject	srobotics
dc.subject	geometric modelling
dc.title	Collision Detection for Moving Polyhedra

Files in this item

Files	Size	Format	View
There are no files associated with this item.