Minkowski Sum of Convex Robot and Obstacle
Minkowski Sum of Convex Robot and Obstacle
The Minkowski sum of a convex obstacle and a robot delineates the region where an obstacle and a robot might collide. Knowing this region simplifies robot motion planning. Set "view" to "static" and drag the locators to make arbitrary two-dimensional robots and obstacles. The region of the Minkowski sum can be traced out by choosing "move around Minkowski" to animate the robot moving around the edge of the obstacle.