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

Figure 2

Three GVD matrices constructed by the Brushfire, dynamic Brushfire, BL, and DTD algorithms, (a) corresponding dist_s matrix, where each entry stores the integral distance to its nearest site cell, (b) corresponding obst_s matrix, where each entry stores the site identifier and the exact coordinates (not represented here) of its nearest site cell, and (c) corresponding voro_s matrix, where each entry shows whether the site cell belongs to the GVD (registered as 1) or not (registered as 0). This figure is cited from [9].

(a)

(b)

(c)