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ICRA
2000
IEEE

Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams

14 years 3 months ago
Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams
We present techniques for fast motion planning by using discrete approximations of generalized Voronoi diagrams, computed with graphics hardware. Approaches based on this diagram computation are applicable to both static and dynamic environments of fairly high complexity. We compute a discrete Voronoi diagram by rendering a threedimensional distance mesh for each Voronoi site. The sites can be points, line segments, polygons, polyhedra, curves and surfaces. The computation of the generalized Voronoi diagram provides fast proximity query toolkits for motion planning. The tools provide the distance to the nearest obstacle stored in the Z-buffer, as well as the Voronoi boundaries, Voronoi vertices and weighted Voronoi graphs extracted from the frame buffer using continuation methods. We have implemented these algorithms and demonstrated their performance for path planning in a complex dynamic environment composed of more than 140,000 polygons.
Kenneth E. Hoff III, Tim Culver, John Keyser, Ming
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Kenneth E. Hoff III, Tim Culver, John Keyser, Ming C. Lin, Dinesh Manocha
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