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

Table 2

Comparison of the computation time for seven hexagon-based GVD construction scenarios. Construction from a fixed-size map with seven different resolutions.

Algorithm	Resolution
	72 × 100	108 × 150	144 × 200	180 × 250	216 × 300	252 × 350	288 × 400
Hexagon-based Brushfire	7.5838	22.2965	51.6161	111.6368	182.0032	294.6933	448.1999
Hexagon-based crystal growth	1.4945	3.5701	7.3051	14.7915	23.5950	37.4815	57.4377