Research Article
Hexagon-Based Generalized Voronoi Diagrams Generation for Path Planning of Intelligent Agents
Algorithm 2
Pseudocode for the hexagon-based crystal-growth algorithm.
| GenerateCrystalGrowthRoughGVDEdges() | | (1) | while unCrystalCellList ≠ Ø do | | (2) | for all sbcl ∈ boundCellList do | | (3) | for all s ∈ sbcl.cSiteCells do | | (4) | for n ∈ Adj6(s) do | | (5) | if typen ≠ OBST then | | (6) | if typen = = EMPTY then | | (7) | typen ⟵ OCCUPY | | (8) | obstn ⟵ obsts | | (9) | distn ⟵ dists + 1 | | (10) | insert(tempSBC. cSiteCells, n) | | (11) | unCrystalCellList.pop(n) | | (12) | else if typen = = OCCUPY then | | (13) | if obstn ≠ obststhen | | (14) | typen ⟵ EDGE | | (15) | insert(newSBCL, tempSBC) | | (16) | boundCellList ⟵ newSBCL | | (17) | markCrystalRoughEdge() | | | markCrystalGrowthRoughGVDEdges() | | (18) | for all s ∈ allCellList do | | (19) | if types = = EDGE then | | (20) | e ⟵ findEdge(s) | | (21) | if e = = Ø then | | (22) | e ⟵ Edge() | | (23) | obste ⟵ obsts | | (24) | insertEdge(e) | | (25) | insertCell(e, s) | | (26) | insertQueue(roughQueue, s, dists) | | (27) | pruningEdgeCell() |
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