A method of constructing complete graph for multi-objects path planning in complex environment

Considering path planning for multiobjects in complex environment, the construction of complete graph which reflects the relative distance between objects in real world has great influence on calculating the sequence of objects and the optimal path throughout the optimization and path planning algorithm. This paper describes an approach that integrates the representations of uniform grids and Voronoi diagrams to build the complete graph in complex environment for multiobjects. It firstly generates an initial Voronoi diagram with respect to the obstacle regions in the cost-changing and complex environment on top of grid based maps. We then uses the techniques from path planning to make modifications by partitioning the obstacles into coherent regions and updating the Voronoi diagram considering the relationship between objects and obstacles. Finally the complete graph is built from the modified Voronoi diagram. Throughout the simulation, such a method of building the complete graph could make the outcome of path planning better compared with the complete graph from Euclidean distance.