论文信息 - Planning a purely translational motion for a convex object in two-dimensional space using generalized Voronoi diagrams

Planning a purely translational motion for a convex object in two-dimensional space using generalized Voronoi diagrams

AnO(n logn) algorithm for planning a purely translational motion for a simple convex object amidst polygonal barriers in two-dimensional space is given. The algorithm is based on a new generalization of Voronoi diagrams (similar to that proposed by Chew and Drysdale [1] and by Fortune [2]), and adapts and uses a recent technique of Yap for the efficient construction of these diagrams.

Micha Sharir | Daniel Leven | M. Sharir | D. Leven

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