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Collision Detection for Moving Polyhedra

dc.date.accessioned2004-10-01T20:17:19Z
dc.date.accessioned2018-11-24T10:09:47Z
dc.date.available2004-10-01T20:17:19Z
dc.date.available2018-11-24T10:09:47Z
dc.date.issued1984-10-01en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/5621
dc.identifier.urihttp://repository.aust.edu.ng/xmlui/handle/1721.1/5621
dc.description.abstractWe 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.en_US
dc.format.extent17 p.en_US
dc.format.extent1836593 bytes
dc.format.extent1296892 bytes
dc.language.isoen_US
dc.subjectcollision detectionen_US
dc.subjectcollision avoidanceen_US
dc.subjectmotion planningen_US
dc.subjectsroboticsen_US
dc.subjectgeometric modellingen_US
dc.titleCollision Detection for Moving Polyhedraen_US


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