Handout: Wed Oct 17th
Due: Mon Nov 5th

For a two-dimensional configuration space, implement the Voronoi diagram using incremental methods.

You may want to consider breaking your code down into separate modules

• Compute distance to the individual obstacles (assume you have a sensor with infinite sensor range)
• Move away from the closest obstacle until reaching double equidistance
• Compute the tangent space of the GVD by passing a line through the two closest points on the two closest obstacle and taking the line perpendicular to it
• Correct by rotating 90 degrees and move onto the GVD
• Detect the nodes (meet points)
• Compute tangents pairwise of three closest obstacles
• Create the graph structure

On your web page, show at least two images in different environments.

Example Solution
Example Solution