Issue No. 06 - June (1994 vol. 16)

ISSN: 0162-8828

pp: 571-580

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/34.295902

ABSTRACT

<p>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) worst-case 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.</p>

INDEX TERMS

path planning; robots; computational geometry; collision detection; moving polygon; polygonal obstacles; angular velocity; worst case optimal algorithm; computational geometry; motion planning; robotics

CITATION

C.A. Wang, "Collision Detection of a Moving Polygon in the Presence of Polygonal Obstacles in the Plane",

*IEEE Transactions on Pattern Analysis & Machine Intelligence*, vol. 16, no. , pp. 571-580, June 1994, doi:10.1109/34.295902