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

Figure 10

(a) First line, left to right: hexagon-based GVD maps with resolutions of 180 × 250, 216 × 300, 252 × 350, and 288 × 400, (b) second line, left to right: path planning results adopting A for entire hexagonal grid maps with resolutions of 180 × 250, 216 × 300, 252 × 350, and 288 × 400, and (c) third line, left to right: path planning results adopting A for hexagon-based GVD maps with resolutions of 180 × 250, 216 × 300, 252 × 350, and 288 × 400.

(a)

(b)

(c)