Planning a purely translational motion for a convex object in two-dimensional space using generalized Voronoi diagrams

Daniel Leven*, Micha Sharir

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

An O(n log n) algorithm for planning a purely translational motion for a simple convex object amidst polygonal barriers in two-dimensional space is given. The algorithm is based on a new generalization of Voronoi diagrams (similar to that proposed by Chew and Drysdale [1] and by Fortune [2]), and adapts and uses a recent technique of Yap for the efficient construction of these diagrams.

Original languageEnglish
Pages (from-to)9-31
Number of pages23
JournalDiscrete and Computational Geometry
Volume2
Issue number1
DOIs
StatePublished - Dec 1987

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