Voronoi diagram in optimal path planning

@article{Bhattacharya2007VoronoiDI,
  title={Voronoi diagram in optimal path planning},
  author={Priyadarshi Bhattacharya and Marina L. Gavrilova},
  journal={4th International Symposium on Voronoi Diagrams in Science and Engineering (ISVD 2007)},
  year={2007},
  pages={38-47}
}
In this paper, we provide an algorithm based on Voronoi diagram to compute an optimal path between source and destination in the presence of simple disjoint polygonal obstacles. We evaluate the quality of the path based on clearance from obstacles, overall length and smoothness. We provide a detailed description of the algorithm for Voronoi diagram maintenance and dynamic updates. Experimental results demonstrate superior performance of the method in relation to other path planning algorithms. 
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