Efficient Computation of Voronoi Diagrams

Voronoi diagrams have advantages of representing geometric information in a compact form which makes them well suited for robot path planning. However, researchers have often found them too complex and inefficient. In this paper, two alternate views of Voronoi diagrams, the Standard [SHAMM75a] and the generalized [KIRKD79] are reviewed. A new method to approximate the Voronoi diagram is developed while showing how all three can be effectively used in applications. Finally, the three methods are compared showing their relative strengths and weaknesses for robot path planning.