CAJ | 학술논문

　　碰撞检测在智能机器人路径规划、机构虚拟装配仿真等领域都是研究的热点问题，快速精确的碰撞检测成为其发展的关键技术之一。基于Minkowski和的碰撞检测算法通过精确的数值计算可实现精确的碰撞检测，成为研究的一种有效途径。本文提出一种基于边平移理论的二维平面内两凸多边形的 Minkowski 和构造算法，并分析验证了所提出算法的性能。与传统的基于高斯映射的Minkowski和构造算法相比，该算法具有计算简单，执行效率高等优点。
　　팽당검측재지능궤기인로경규화、궤구허의장배방진등영역도시연구적열점문제，쾌속정학적팽당검측성위기발전적관건기술지일。기우Minkowski화적팽당검측산법통과정학적수치계산가실현정학적팽당검측，성위연구적일충유효도경。본문제출일충기우변평이이론적이유평면내량철다변형적 Minkowski 화구조산법，병분석험증료소제출산법적성능。여전통적기우고사영사적Minkowski화구조산법상비，해산법구유계산간단，집행효솔고등우점。
Collision detection is one of the hot study problems in the field of intelligent robot path planning, virtual assembly simu-lation and so on. Collision detection method of fast and accurate has been one of the key technologies in these fields. The method based on Minkowski sum is an effective method of collision detection accurately by numerical calculations. In this paper, a new and efficient Minkowski sum algorithm of convex polygons in two-dimensional plane based on boundary translation theory is pre-sented and its performance is analyzed. Compared with the traditional Minkowski sum algorithms based on Gauss map, the algo-rithm's calculation is simpler and execution performance is higher.