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C.A. Wang, "Collision Detection of a Moving Polygon in the Presence of Polygonal Obstacles in the Plane," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 16, no. 6, pp. 571580, June, 1994.  
BibTex  x  
@article{ 10.1109/34.295902, author = {C.A. Wang}, title = {Collision Detection of a Moving Polygon in the Presence of Polygonal Obstacles in the Plane}, journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {16}, number = {6}, issn = {01628828}, year = {1994}, pages = {571580}, doi = {http://doi.ieeecomputersociety.org/10.1109/34.295902}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
RefWorks Procite/RefMan/Endnote  x  
TY  JOUR JO  IEEE Transactions on Pattern Analysis and Machine Intelligence TI  Collision Detection of a Moving Polygon in the Presence of Polygonal Obstacles in the Plane IS  6 SN  01628828 SP571 EP580 EPD  571580 A1  C.A. Wang, PY  1994 KW  path planning; robots; computational geometry; collision detection; moving polygon; polygonal obstacles; angular velocity; worst case optimal algorithm; computational geometry; motion planning; robotics VL  16 JA  IEEE Transactions on Pattern Analysis and Machine Intelligence ER   
This paper presents a new approach for the following collision detection problem in the plane: Let a simple polygon P rotate at a center /spl ogr/ with constant angular velocity /spl omega/ and translate towards a set of polygonal obstacles S with constant velocity /spl nu/. Given P and S as well as their initial positions, and given also the velocities of P, determine whether or not P will collide with any element of S and report the collided elements of S if collisions occurred. An O(mn) worstcase optimal algorithm is proposed to solve this problem, where n is the number of vertices of P and m is the number of vertices of the obstacles in S.
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