Research Article

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

Table 1

Semantics table of the related data structure employed by DTD.

ClassAttributeSemantics

HexGridCellDist:floatThe Euclidean distance to the nearest site cell
posX:intX coordinate of the grid cell in the grid map
posY:intY coordinate of the grid cell in the grid map
voro:boolA mark indicating if the grid cell belongs to the GVD
obstX:intX coordinate of the nearest site cell
obstY:intY coordinate of the nearest site cell
sID:intIdentifier of the nearest site, determined by the sequence that the site is created
toRaise:boolA mark indicating the propagation type of this grid (raised or lowered)

EdgeCellID:intThe index of the edge cell in the hash table
sIDp1:intIdentifier indicating one of the two sites divided by this edge cell
sIDp2:intIdentifier indicating the other site divided by this edge cell

EdgeID:intThe index of the edge in the hash table
cMap : HexGridCellA hash table storing the edge cells indexed by their coordinates
vIDp1:intIdentifier indicating one of the two vertices of the edge
vIDp2:intIdentifier indicating the other vertex of the edge
sIDp1:intIdentifier indicating one of the two sites divided by this edge
sIDp2:intIdentifier indicating the other site divided by this edge

VertexID:intThe index of the GVD vertex in the hash table
posX:intX coordinate of the GVD vertex
posY:intY coordinate of the GVD vertex
eIDs:list<int>A list storing the IDs of the edges that are connected to the vertex
sIDs:list<int>A list storing the IDs of the sites that are connected to the vertex

GVDgMap:array<HexGridCell>A unique 2D array managing GVD matrices
eMap:EdgeMapA unique hash table storing the instances of GVD edges
vMap:VertexMapA unique hash table storing the instances of GVD vertices
sMap:SiteMapA unique hash table storing the corresponding spatial object of GVDs