Predrag M. Rajković, Emina P. Petrović, Vlastimir D. Nikolić

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The distance computation between objects is an essential component of robot motion planning and controlling the robot to avoid its surrounding obstacles. Distance is used as a measure of how far a robot is from colliding with an obstacle. In this paper a Particle Swarm Optimization algorithm (PSO) for solving the problem of the distance computation between convex objects is presented. Convergence analysis of the suggested method was done via difference equation.

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