Summary
In path planning, it is often desired to compute a path that is shortest possible while maintaining a specified amount of clearance from obstacles. This chapter utilizes the Voronoi diagram to develop a simple and efficient solution to compute such a path. By setting the clearance to zero, we obtain a very good approximation of the shortest path. We compare performance of our algorithm to other existing methods.
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Bhattacharya, P., Gavrilova, M.L. (2009). Density-Based Clustering Based on Topological Properties of the Data Set. In: Gavrilova, M.L. (eds) Generalized Voronoi Diagram: A Geometry-Based Approach to Computational Intelligence. Studies in Computational Intelligence, vol 158. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-85126-4_8
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DOI: https://doi.org/10.1007/978-3-540-85126-4_8
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