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- Datasource
- Association for Computing Machinery
- Copyright
- Copyright © 2005 by ACM Inc.
- ISBN
- 1-58113-991-8
- doi
- 10.1145/1064092.1064104
- Publisher site
- See Article on Publisher Site
Abstract
The Visibility “Voronoi Complex and Its Applications Ron Wein School of Computer Science Tel-Aviv University, Israel — Jur P. van den Berg Institute of Information and Computing Sciences Utrecht University, The Netherlands Dan Halperin School of Computer Science Tel-Aviv University, Israel wein@tau.ac.il danha@tau.ac.il berg@cs.uu.nl ABSTRACT We introduce a new type of diagram called the VV -diagram (the Visibility “Voronoi diagram for clearance c), which is a hybrid between the visibility graph and the Voronoi diagram of polygons in the plane. It evolves from the visibility graph to the Voronoi diagram as the parameter c grows from 0 to ž. This diagram can be used for planning natural-looking paths for a robot translating amidst polygonal obstacles in the plane. A natural-looking path is short, smooth, and keeps ” where possible ” an amount of clearance c from the obstacles. The VV(c) -diagram contains such paths. We also propose an algorithm that is capable of preprocessing a scene of con guration-space polygonal obstacles and constructs a data structure called the VV-complex. The VVcomplex can be used to e ƒciently plan motion paths for any start and goal con guration and any clearance value c, without having to explicitly construct the