Collision detection between 3-D convex polyhedra

摘要

This paper develops a numerical criterion for collision detection between robot links and obstacles located in robot workspace. We study the distance function between 3- D convex polyedra in the sense of p-metric with emphasis being put on two special cases, i.e., p=1 and p=∞. The characteristics of the p-distance such as its topological proper- ty, Lipschitz continuity and mutual equivalence for different p, etc., are investigated.