摘要
Based on the generalized gauge function, a numerical criterion which specifies the topological rela-tionship between convex polyhedra is presented. It can be applied to detecting the overlap, just contact or separation between two sets of convex polyhedra. As the solution of a linear programming problem, the value of this criterion can be calculated easily. The presented criterion is available to provide heuristic information for generating intermediate configuration point as well as checking the hypothesized path for admissibility in flexible-trajectory path planning ap-proach.
Based on the generalized gauge function, a numerical criterion which specifies the topological rela-tionship between convex polyhedra is presented. It can be applied to detecting the overlap, just contact or separation between two sets of convex polyhedra. As the solution of a linear programming problem, the value of this criterion can be calculated easily. The presented criterion is available to provide heuristic information for generating intermediate configuration point as well as checking the hypothesized path for admissibility in flexible-trajectory path planning ap-proach.
基金
Project supported by the National Natural Science Foundation of China.
