三维空间内凹多面体的Minkowski和的算法研究工学硕士论文推荐.docVIP

工硕士学位论文 摘 要Minkowski和算法作为计算几何研究领域中的一个分支，在理论和应用上都有着重要的意义，其研究成果已在机器人学、、许多领域中了的用机器人学快速而准确地，一直是国内外学者研究的。其次，Minkowski和的一个重要步骤。为了有效地计算凹多面体的Minkowski和，在研究了算法，。 ，出了多面体的Minkowski和算法。采用Enhanced Marching Cubes算法合并子凸多面体的Minkowski和多面体的边界。 最后，通过实验验证了Enhanced Marching Cubes；Minkowski和Abstract Computational Geometry is an important embranchment of computer theoretical science. The subject has already made a tremendous development and produced a series of theoretical results. Minkowski sum algorithm has the great significance in theory and application as an embranchment of Computational Geometry. It plays an important role in robotics, dynamic simulation, computer graphics, and so on, especially in the field of robotics, it is an important tool for computing collision-free path. Therefore, how to calculate the path of obstacle avoidance quickly and accurately has been an important research subject of the home and foreign scholars. Firstly, this paper researches the existed approach of Minkowski sum of two convex polyhedral. In order to reduce the amount of computing overlay of two planar subdivisions and improve the efficiency of the algorithm, this paper separates from the previous algorithm based on the traditional Gaussian Map and proposes the method of Regular Tetrahedron Map and Point Projection to resolve this problem. Through this method, it can reduce the problem in 3D to 2D. Secondly, convex decomposition is an important step of computing Minkowski sum of two non-convex polyhedral. So, for effectively computing the Minkowski sum of non-convex polyhedral, the papers uses the idea of set theory and graph theory and propose a new algorithm to decompose non-convex polyhedron that based on Successful Loop after studying the convex decomposition algorithms. At the same time, the complexity of the algorithm is analyzed. Thirdly, the paper gives the overall idea of computing the Minkowski sum of non-convex polyhedral. It uses Successful Loop to decompose non-convex polyhedral i