Arithmetic unit for calculating distance between objects

Details Arithmetic unit for calculating distance between objects Arithmetic unit for calculating distance between objects

1996-10-02

1998-06-02

Hafiz, Tariq R.

Boots, shoes, and leggings

395119, 395105, 364461, G05B 1904, G05B 1918

Patent

active

057613915

ABSTRACT:
A unit in a computer for computing a closest distance between two three-dimensional convex objects. At least one of the objects is a convex curved surface object. A first closest vector arithmetic unit is provided for identifying a preliminary closest vector coupling the closest points of the two objects by repeatedly calculating for each object an inner product of a candidate for the preliminary closest vector directed from a first of the two objects to a second of the two objects and a plurality of position vectors. Each position vector being one of a position vector of a vertex where the first object is a convex polyhedron, and a position vector of a control point of a convex curved surface patch where the first object is a convex curved surface object comprising sets of convex curved surface patches. A position vector for each object having a maximum inner product is extracted and a new candidate for the preliminary closest vector is formed by a vector connecting the two position vectors. A second closest vector arithmetic unit corrects the preliminary closest vector to identify a new closest vector perpendicularly intersecting a tangent plane in contact with the object having a convex curved surface at the closest point by starting from the preliminary closest vector and sequentially updating a given coordinate on the surface of the object until an inner product of a vector on the tangent plane and the closest vector on the given coordinates has the smallest possible value.

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E. Gilbert, et al. "A Fast Procedure for Computing . . . Three-Dimensional Space"; IEEE Journal of Robotics and Automation, vol. 4, No. 2 (Apr. 1988); pp. 193-203.
E. Gilbert et al. "A Fast Procedure for Computing the Distance Between Complex Objects in Three-Dimensional Space" IEEE Journal of Robotics and Automation, vol. 4, No. 2, pp. 193-203, Apr. 1988.
E. Rimon et al. "Efficient Distance Computation Using Best Ellipsoid Fit" Intelligent Control, 1992 Int'l Symposium pp. 360-365.

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