Event Details
A Hybrid Optimization-Geometric Method for Efficient Distance Computation Between Convex Objects
Presenter: Mr. David Fenger (PhD candidate, ECE)
Supervisor:
Date: Tue, November 27, 2001
Time: 13:00:00 - 00:00:00
Place: EOW 430
ABSTRACT
Abstract:
The computation of distances between convex polyhedra in 3D space can be presented as a Quadratic Programming problem. The DQP3 (Distance via Quadratic Programming, 3D-specific) algorithm for computing the distance between convex polyhedra is presented, based on the primal active set QP algorithm with various enhancements. Familiarity with constrained optimization is not required.
Comparison to algorithms from the literature is also performed, with CPU times scaled according to the Linpack benchmark of the CPU used. The most detailed comparison is to Cameron's Enhanced GJK algorithm, running his code on the same test machine as the DQP3 code.