Exploring Spatial Voronoi Diagrams for Autonomous Vehicle Operation in 3D Road Networks
Ganesh P. Kumar, Md. Nahid Pervez, Quinn Wu, Sharnam Shah · Abstracts of the ICA · 2022
Voronoi diagrams are convex subdivisions of Euclidean space and have been extensively studied in robotic mapping, localization, and motion planning problems for their efficiency.However, current applications have implemented them largely for solving 2D (planar) versions of these problems, leaving the general 3D (spatial) case unexplored.In this abstract, we present 3D problem scenarios for an Autonomous Ground Vehicle (AV), that navigates on a 3D road network.The novelty of this paper arises chiefly from attempting to address the challenges inherent in this generalization.