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In this work, we develpoe the proximity measure between two
convex polygons. Given two convex polygons, the minimum
directed distance between them to be shortest translational
distance of either object needs to translate that result in
objects being just in contact. Instead of using the
traditional optimization approach, we use the geometric and
configuration space approach to speed up the computing of
the minimum directed distance between two objects. The
proposed minimum directed distance is successful for the
path planning problem in two-dimensional space. Four
different path planning algorithms have been developed.
They are local and global path planning with or without
rotation. Simulation results show that these algorithms are
quit robust and the planned trajectories are near the
shortest length path.
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