机器人无碰撞路径规划中的碰撞检测

朱向阳, 钟秉林, 熊有伦

Collision Detection Between Convex Polyhedra:a Foundation for Collision -Free Path Planning

ZHU XIANGYANG, ZHONG BINGLIN, XIONG YOULUN

应用科学学报 . 1998, (1): 106 -111 .