K. E. Hoff, T. Culver, J. Keyser, M. Lin, Dinesh Manocha
{"title":"Interactive motion planning using hardware-accelerated computation of generalized Voronoi diagrams","authors":"K. E. Hoff, T. Culver, J. Keyser, M. Lin, Dinesh Manocha","doi":"10.1109/ROBOT.2000.846473","DOIUrl":null,"url":null,"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.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2000-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"110","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2000.846473","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.