Study of Distance Computation between Objects Represented by Discrete Boundary Model
Distance computation has become an effective means for identifying the proximity between objects in the applications of robotic path planning, collision detections in machine workspace (e.g. virtual NC program debugging). This paper presents an algorithm for computing the shortest distance between two objects represented by Discrete Boundary Model (DBM). By using the DBM, the solid model of the object is discritized into Three-Dimensional (3D) points with a certain spacing distance (i.e. the mesh size). While two objects represented by the set of digitized points are placed in a 3D space, the proposed algorithm finds the pair of the closest points, one on the boundary surfaces of each object, and hence, calculates the shortest distance between objects.