Abstract:Abs$ruct: Distancc computing in robotics appears in the trcatmcnt of most of problems. In this article we propose a distance computing algorithm between any f " n e n t point and any shape obstacle boundary. The algorithm prcscntcd is fast and not obstacle shape dependent. elements of Ki are disjoint. Let us consider C a set of classes allowing to differentiate each object according to particular characteristics. We note Ki(a,) the object K, belonging to theclassoj, Let K the set of obstacles such as m K = U k… Show more
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