This thesis deals with the development of a software module designed for realtime collision avoidance by an efficient distance-evaluation. Complex geometries are therefore represented by a combination of three simple
swept-sphere-volume primitives. The goal is an efficient evaluation of the minimal distance between two objects exploiting SIMD and parallelization capabilities. Besides the implementation of the module, the thesis includes a performance evaluation as well as a detailed code documentation. The developed module provides a good starting point for future extensions and acceleration methods.
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This thesis deals with the development of a software module designed for realtime collision avoidance by an efficient distance-evaluation. Complex geometries are therefore represented by a combination of three simple
swept-sphere-volume primitives. The goal is an efficient evaluation of the minimal distance between two objects exploiting SIMD and parallelization capabilities. Besides the implementation of the module, the thesis includes a performance evaluation as well as a detailed code documen...
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