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18 lines
518 B
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Voronoi Road-Map planning
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.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/VoronoiRoadMap/animation.gif
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This Voronoi road-map planner uses Dijkstra method for graph search.
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In the animation, blue points are Voronoi points,
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Cyan crosses mean searched points with Dijkstra method,
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The red line is the final path of Vornoi Road-Map.
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Ref:
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- `Robotic Motion Planning <https://www.cs.cmu.edu/~motionplanning/lecture/Chap5-RoadMap-Methods_howie.pdf>`__
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