Interactive motion planning using hardware-accelerated computation of generalized Voronoi diagrams

K. E. Hoff, T. Culver, J. Keyser, M. Lin, Dinesh Manocha
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引用次数: 110

Abstract

We present techniques for fast motion planning by using discrete approximations of generalized Voronoi diagrams, computed with graphics hardware. Approaches based on this diagram computation are applicable to both static and dynamic environments of fairly high complexity. We compute a discrete Voronoi diagram by rendering a 3D distance mesh for each Voronoi site. The sites can be points, line segments, polygons, polyhedra, curves and surfaces. The computation of the generalized Voronoi diagram provides fast proximity query toolkits for motion planning. The tools provide the distance to the nearest obstacle stored in the Z-buffer, as well as the Voronoi boundaries, Voronoi vertices and weighted Voronoi graphs extracted from the frame buffer using continuation methods. We have implemented these algorithms and demonstrated their performance for path planning in a complex dynamic environment composed of more than 140,000 polygons.
使用硬件加速计算广义Voronoi图的交互式运动规划
我们提出了快速运动规划的技术,使用广义Voronoi图的离散近似,用图形硬件计算。基于这种图计算的方法适用于相当高复杂性的静态和动态环境。我们通过绘制每个Voronoi站点的3D距离网格来计算一个离散的Voronoi图。这些位置可以是点、线段、多边形、多面体、曲线和曲面。广义Voronoi图的计算为运动规划提供了快速接近查询工具。该工具提供到z缓冲区中存储的最近障碍物的距离,以及使用延拓方法从帧缓冲区中提取的Voronoi边界、Voronoi顶点和加权Voronoi图。我们已经实现了这些算法,并证明了它们在由超过140,000个多边形组成的复杂动态环境中的路径规划性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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