Pseudo minimuym translational distance between convex polyhedra (II)

摘要

By using the pseudo minimum translational distyrance betweenconvex objects, this paper presents two algorithms for robot pathplanning. First, an analytically tractable potential field is definedin the robot configuration space, and the concept of virtualobstacles is introduced and incoproorated in the path planner tohandle the local minima of the potential function.