On using LP to collision detection between a manipulator arm and surrounding obstacles

This paper is concerned with two Linear Programming models for the detection of a collision between a manipulator arm and its surrounding obstacles, on the basis of a real case study. In particular, the first model finds the intersections between two convex polyhedra, while the second one finds the intersections between suitable representations of the objects. A comparison between the two approaches is presented on the basis of experimental data; 9200 test cases have been analyzed.