Collision Detection of a Moving Polygon in the Presence of Polygonal Obstacles in the Plane

Authors:
C. A. Wang
Affiliations:
-
Venue:
IEEE Transactions on Pattern Analysis and Machine Intelligence
Year:
1994

Citing 7
Cited 0

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Abstract

This paper presents a new approach for the following collision detection problem in the plane: Let a simple polygon P rotate at a center /spl ogr/ with constant angular velocity /spl omega/ and translate towards a set of polygonal obstacles S with constant velocity /spl nu/. Given P and S as well as their initial positions, and given also the velocities of P, determine whether or not P will collide with any element of S and report the collided elements of S if collisions occurred. An O(mn) worst-case optimal algorithm is proposed to solve this problem, where n is the number of vertices of P and m is the number of vertices of the obstacles in S.