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

Figure 8

Original raster map and seven hexagonal grid maps with different resolutions. (a) First line, left to right: the original raster map and grid maps with resolutions of 72 × 100, 108 × 150, and 144 × 200. (b) Second line, left to right: grid maps with resolutions of 180 × 250, 216 × 300, 252 × 350, and 288 × 400.

(a)

(b)