An overview on distance and pseudo distance functions and their applications
An overview on distance and pseudo distance functions and their applications
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DOI：
10.1360/02ww0291
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发表时间：
2003
影响因子：
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通讯作者：
Xiangyang Zhu;H. Ding;B. Zhong;Y. Xiong
中科院分区：
文献类型：
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作者：
Xiangyang Zhu;H. Ding;B. Zhong;Y. Xiong
几何模型之间快速准确的碰撞检测和距离计算是机器人、制造和计算机模拟环境中的基础。本文综述了凸集间距离函数和伪距离函数的理论和算法的研究现状。综述了已有的研究成果，包括距离计算的快速算法、各种伪距离函数（J函数、增长距离和伪最小平移距离）的定义和性质。距离和伪距离函数在广泛的领域中是通用的。它们在机器人运动规划，把握分析/合成，形状误差评估和工程优化中的应用。
The fast and accurate collision detection and distance calculation between geometric models is fundamental in robotics, manufacturing and computer-simulated environments. This paper surveys the state of the art in the theory and algorithms of distance and pseudo distance functions 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 analysis/synthesis, form error evaluation, and engineering optimization is demonstrated.