Research Article
Hexagon-Based Generalized Voronoi Diagrams Generation for Path Planning of Intelligent Agents
Algorithm 1
Pseudocode for the hexagon-based Brushfire algorithm.
| | GenerateRoughBrushfire GVDEdges() | | (1) | while bfQueueLis ≠ Ø do | | (2) | s ⟵ pop(bfQueueList) | | (3) | if dists ≠ 0 then | | (4) | adjCellList ⟵ Adj6(s) | | (5) | sort(adjCellList) | | (6) | n ⟵ pop(adjCellList) | | (7) | dists = distn + 1 | | (8) | obsts = obstn | | (9) | parents = n | | (10) | for all a ∈ adjCellList do | | (11) | if typea ≠ OBST then | | (12) | if dista = = MAXDIS then | | (13) | if a ∉ bfQueueList then | | (14) | obsta = obsts | | (15) | insert(bfQueueList, a) | | (16) | markBrushfire RoughEdge() | | | markBrushfire RoughGVDEdges() | | (17) | for all s ∈ allCellList do | | (18) | bEdgeCell ⟵ false | | (19) | for all n ∈ Adj6(s) do | | (20) | if obsts ≠ obstn ∧ types ≠ OBST then | | (21) | bEdgeCell ⟵ true | | (22) | if bEdgeCell then | | (23) | e ⟵ findEdge(s) | | (24) | if e = = Ø then | | (25) | e ⟵ Edge() | | (26) | obste ⟵ obsts | | (27) | insertEdge(e) | | (28) | insertCell(e, s) | | (29) | insertQueue(roughQueue, s, dists) | | (30) | pruningEdgeCell() |
|
