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.
|ジャーナル||Electronics and Communications in Japan, Part III: Fundamental Electronic Science (English translation of Denshi Tsushin Gakkai Ronbunshi)|
|出版物ステータス||Published - 2002 6 1|
ASJC Scopus subject areas
- Electrical and Electronic Engineering