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Hexagon-Based Generalized Voronoi Diagrams Generation for Path Planning of Intelligent Agents
Joint Authors
Tang, Fen
You, Xiong
Zhang, Xin
Li, Kunwei
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-04-23
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Grid-based Generalized Voronoi Diagrams (GVDs) are widely used to represent the surrounding environment of intelligent agents in the fields of robotics, computer games, and military simulations, which improve the efficiency of path planning of intelligent agents.
Current studies mainly focus on square-grid-based GVD construction approaches, and little attention has been paid to constructing GVDs from hexagonal grids.
In this paper, an algorithm named hexagon-based crystal growth (HCG) is presented to extract GVDs from hexagonal grids.
In addition, two thinning patterns for obtaining one-cell-wide GVDs from rough hexagon-based GVDs are proposed.
On the basis of the principles of a leading square-grid-based algorithm named Brushfire, a hexagon-based Brushfire algorithm is realized.
A comparison of the HCG and the hexagon-based Brushfire algorithm shows that HCG is much more efficient.
Further, the usefulness of hexagon-based GVDs for the path planning tasks of intelligent agents is demonstrated using several representative simulation experiments.
American Psychological Association (APA)
Tang, Fen& You, Xiong& Zhang, Xin& Li, Kunwei. 2020. Hexagon-Based Generalized Voronoi Diagrams Generation for Path Planning of Intelligent Agents. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1196207
Modern Language Association (MLA)
Tang, Fen…[et al.]. Hexagon-Based Generalized Voronoi Diagrams Generation for Path Planning of Intelligent Agents. Mathematical Problems in Engineering No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1196207
American Medical Association (AMA)
Tang, Fen& You, Xiong& Zhang, Xin& Li, Kunwei. Hexagon-Based Generalized Voronoi Diagrams Generation for Path Planning of Intelligent Agents. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1196207
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1196207