# 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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