DocumentCode
2862861
Title
A parallel algorithm to construct Voronoi diagram and its VLSI architecture
Author
Sudha, N. ; Nandi, S. ; Sridharan, K.
Author_Institution
Dept. of Comput. Sci. & Eng., Indian Inst. of Technol., Panbazar, India
Volume
3
fYear
1999
fDate
1999
Firstpage
1683
Abstract
This paper presents a parallel algorithm for computing the Voronoi diagram for collision-free path planning of robots. The algorithm constructs the Voronoi diagram on a binary image of the workspace and is based on the Euclidean distance function. It has been implemented in ANSI-C on an HP workstation. The algorithm is suitable for VLSI implementation in a cellular architecture. Such an architecture is described. Comparisons with an existing algorithm are also presented
Keywords
VLSI; cellular arrays; computational geometry; computer vision; parallel algorithms; path planning; robots; Euclidean distance; VLSI architecture; Voronoi diagram; binary image; cellular architecture; parallel algorithm; path planning; robots; Computer architecture; Computer science; Euclidean distance; Orbital robotics; Parallel algorithms; Parallel robots; Path planning; Pixel; Robot kinematics; Very large scale integration;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.770351
Filename
770351
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