Hardware-Efficient Architecture for Generalized Voronoi Diagram Construction Using a Prediction-Correction Approach

This paper presents a hardware-efficient scheme to con- struct sensor-based Generalized Voronoi Diagram (GVD) of an indoor environment. An architecture to construct the GVD using a prediction and correction strategy is pre- sented. The approach is based on processing distance infor- mation from ultrasonic sensors. A feature of the proposed approach is that it does not involve operations that are ex- pensive in hardware. Results of FPGA implementation are also presented. The design is shown to be space efficient and fits in a low-end FPGA device (with a small number of system gates). Keywords: Generalized Voronoi Diagram (GVD), Ultra- sonic sensors, Prediction and Correction Strategy, Architec- ture, Field Programmable Gate Array (FPGA), Robotics