Dynamic Voronoi Diagram for Moving Disks
- Title
- Dynamic Voronoi Diagram for Moving Disks
- Author
- 김덕수
- Keywords
- Unmanned vehicles; moving vehicles; path planning; collision avoidance; topology event; weighted Voronoi diagram
- Issue Date
- 2021-06
- Publisher
- IEEE COMPUTER SOC
- Citation
- IEEE TRANSACTIONS ON VISUALIZATION AND COMPUTER GRAPHICS, v. 27, NO. 6, Page. 2923-2940
- Abstract
- Voronoi diagrams are powerful for understanding spatial properties. However, few reports have been made for moving generators despite their important applications. We present a topology-oriented event-increment (TOI-E) algorithm for constructing a Voronoi diagram of moving circular disks in the plane over the time horizon [0, t(infinity)) . The proposed TOI-E algorithm computes the event history of the Voronoi diagram over the entire time horizon in O (k(F)log n + k(C)nlog n) time with O(nlog n) preprocessing time and O(n + k(F) + k(C)) memory for n disk generators, k(F) edge flips, and k(C) disk collisions during the time horizon. Given an event history, the Voronoi diagram of an arbitrary moment t* < t(infinity )can be constructed in O(k* + n) time where k* represents the number of events in [0, t*) . An example of the collision avoidance problem among moving disks is given by predicting future conjunctions among the disks using the proposed algorithm. Dynamic Voronoi diagrams will be very useful as a platform for the planning and management of the traffics of unmanned vehicles such as cars on street, vessels on surface, drones and airplanes in air, and satellites in geospace.
- URI
- https://ieeexplore.ieee.org/document/8933488https://repository.hanyang.ac.kr/handle/20.500.11754/177348
- ISSN
- 1077-2626;1941-0506
- DOI
- 10.1109/TVCG.2019.2959321
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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- Dynamic Voronoi Diagram for Moving Disks.pdfDownload
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