Four-dimensional representation and collision detection for moving objects

M.D.S. Aliyu, K.S. Al-Sultan
Proceedings of the 1998 IEEE International Symposium on Intelligent Control (ISIC) held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) Intelligent Systems and Semiotics (ISAS) (Cat. No.98CH36262)  
We consider the collision detection problem for general objects. A four-dimensional approach is proposed for this problem which detects exactly and in one-step when and where the earliest collision will occur between the objects. This is done by using fourdimensional sets to represent the objects in both space and time. The problem is then posed as a nonlinear programming problem. The algorithm can handle the case of a rigid body moving on a general path in 2 or 3 with simultaneous translation
more » ... aneous translation and rotation. Simulation results on some example problems are given, and show that the algorithm is superior to those available in the literature For pre-prints please write
doi:10.1109/isic.1998.713714 fatcat:g3twq32vdzc4vjhv4whpjpcome