Application Of The Voronoi Diagram Technique For Mobile Robot Navigation

Navigation of a mobile robot in a known static environment based on the concept of the voronoi diagram is considered. The free space is triangulated and modified. Using the modified triangulation diagram, the location of voronoi points corresponding to free space is calculated. Using the voronoi points, voronoi edges of the free space is constructed. The collection of edges result in a skeleton representation of open environment which robot can navigate with the property of local maximal cleararance distance from the obstacles.