Abstract
A multiplicatively weighted crystal growth Voronoi diagram is a type of planar segmentation diagram that can result when crystals grow at different speeds from several points. In this paper, we first define a multiplicatively weighted crystal growth Voronoi diagram, discuss its properties, and find the analytic solution for the simple case. The approximate solution method for the complex case is constructed by using a difference method for partial differential equations called the fast marching method. Then the multiplicatively weighted crystal growth Voronoi diagram is used to construct a technique for optimum path planning of competing mobile robots.
Original language | English |
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Pages (from-to) | 21-31 |
Number of pages | 11 |
Journal | Electronics and Communications in Japan, Part III: Fundamental Electronic Science (English translation of Denshi Tsushin Gakkai Ronbunshi) |
Volume | 85 |
Issue number | 6 |
DOIs | |
Publication status | Published - 2002 Jun 1 |
Externally published | Yes |
Keywords
- Competing robots
- Crystal growth model
- Fast marching method
- Multiplicatively weighted Voronoi diagram
- Robot path planning
ASJC Scopus subject areas
- Electrical and Electronic Engineering