The algorithm for computing exact Minkowski sum of 3D convex polyhedral 2.docVIP

The algorithm for computing exact Minkowski sum of 3D convex polyhedral Xijuan Guo1, Ya Zhang2 and Xue Feng3 1, 2, 3 Collage of Information Science and Engineering Yanshan University QinHuangDao 066004, P.R.China xjguo@; zhangya_2715@; 0407fengxue@163.com Abstract. The paper separated from the previous algorithm based on the traditional Gaussian Map and proposed a new algorithm of computing exact Minkowski sum of convex polyhedral. Map the convex polyhedron into the bottom of tetrahedron according to the definition of Regular Tetrahedron Map and Point Projection, so we can reduce the problem in 3D to 2D, and compute Minkowski sum of two convex polyhedral amounts to computing the overlay of only one pair of planar subdivision. Comparing with the previous methods, this algorithm establishes mapping from 3D to 2D directly, and gives the function of specific type. Through the programming, we can get the procedure of mapping. The experiment shows that it improves the efficiency greatly. Keywords: Minkowski sum, convex polyhedron, Regular Tetrahedron Map, Point Projection, overlay algorithm 1. Introduction. The defined of Minkowski sum was first proposed by the German mathematician Hermann. In three dimensional, Let and be two closed convex polyhedral, the Minkowski sum of and is the convex polyhedron M, [2], here and are the points of polyhedron and respectively, and is the sum of position vectors and . It can also be viewed as a polyhedron P translated by a vector t is denoted by Pt. Minkowski sum algorithm has the great significance in theory and application as an embranchment of Computational Geometry. It plays an important role in robot, computer graphics, dynamic simulation, CAD/CAM, and so on [1]. Especially in robotics, it is an important tool for computing collision-free path. Lozano-Perez firstly used Minkowski sum to compute configuration space obstacle and applied to robot path planning []. The free configuration space is the set of all possi