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Minkowski Sum of Convex Robot and Obstacle

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view
static
move around Minkowski
show normals
enable locators
number of robot edges
1
2
3
4
5
number of obstacle edges
1
2
3
4
5
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.
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