An Approach to Explore path Planning tasks by Using Voronoi Diagram

摘要

This paper aims to show the use of Voronoi diagram to generate an approximated shape of an actual surface. It is a set of points representation and has interesting geometrical properties and holds nice dual properties with Delaunay triangulation. The tessellation is easily obtained from Voronoi diagrams, as well as, also produces a "good" triangulation of set of points. Rebuilding surfaces from clouds of points is necessary in the path planning trajectory of robots working on the fly. This kind of approach helps the automation of repairing rotors blades damages in hydraulic turbines by using welding operated by robots. So, this approach helps to compute and get a simplified shape representation and also a way to speed up the task planning on the fly.