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《科学通报(英文版)》 2003-16
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An overview on distance and pseudo distance functions and their applications

ZHU Xiangyang1, DING Han1, ZHONG Binglin2 & XIONG Youlun3 1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, China; 2. Beijing Normal University, Beijing 100875, China; 3. School of Mechanical Engineering, Huazhong University of Science and Technology, Wuhan 430074, China  
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.
【CateGory Index】: O29
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