Guaranteed Collision Detection With Toleranced Motions

  title={Guaranteed Collision Detection With Toleranced Motions},
  author={Hans-Peter Schr{\"o}cker and Matthias J. Weber},
  journal={Computer Aided Geometric Design},
We present a method for guaranteed collision detection with toleranced motions. The basic idea is to consider the motion as a curve in the 12-dimensional space of affine displacements, endowed with an object-oriented Euclidean metric, and cover it with balls. The associated orbits of points, lines, planes and polygons have particularly simple shapes that lend themselves well to exact and fast collision queries. We present formulas for elementary collision tests with these orbit shapes and we… CONTINUE READING