A voronoi diagram-visibility graph-potential field compound algorithm for robot path planning

@article{Masehian2004AVD,
  title={A voronoi diagram-visibility graph-potential field compound algorithm for robot path planning},
  author={E. Masehian and Mohammad Reza Amin-Naseri},
  journal={J. Field Robotics},
  year={2004},
  volume={21},
  pages={275-300}
}
Numerous methods have been developed to solve the motion planning problem, among which the Voronoi diagram, visibility graph, and potential fields are well-known techniques. In this paper, a new path planning algorithm is presented where these three methods are integrated for the first time in a single architecture. After constructing the generalized Voronoi diagram of C-space, we introduce a novel procedure for its abstraction, producing a pruned generalized Voronoi diagram. A broad freeway… 
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