Hexagon-Based Generalized Voronoi Diagrams Generation for Path Planning of Intelligent Agents

Algorithm 3

Pseudocode for obtaining one-cell-wide hexagon-based GVD edges using the two thinning patterns in Figure 7.

	pruningEdgeCell()
(1)	for all s ∈ roughQueue do
(2)	if fitPatternOne(s) ∨ fitPatternTwo(s) then
(3)	continue
(4)	else
(5)	e ⟵ findEdge(s)
(6)	e.remove(s)
	thinningPatternOne(s)
(7)	for all n ∈ Adj6(s) do
(8)	if typen = = EDGE then
(9)	a, b ⟵ commonAdj(s, n)
(10)	if typea = = EMPTY ∧ typeb = = EMPTY then
(11)	return true
	thinningPatternTwo (s)
(12)	for all n ∈ Adj6(s) do
(13)	if typen = = EMPTY then
(14)	a, b ⟵ commonAdj(s, n)
(15)	if typea = = EDGE ∧
(16)	(typeb = = EDGE ∨ typeb = = OBST) then
(17)	return true