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Path planning algorithm for a car like robot based on voronoi diagram method

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Figure

Figure 2.1: A scenario represented in (a) original form (b) configuration space. The
Figure 2.2: a) Exact cell decomposition, Cfree exactly decomposed into trapezoids;
Figure 2.3: A Voronoi diagram. The dashed lines are the set of points equidistant to
Figure 2.4 shows an example of PRM used in path planning. A path connecting the
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