Voronoi 图和三角剖分

Voronoi Diagram

在凸多边形内的点的距离都小于到其他点的距离

Delaunay Triangulation

connect each node to every other node that shares an edge

通过三角形划分空间

Delaunay triangulations maximize the minimum angle of all the angles of the triangles in the triangulation

ref

• blog
  • Robot Path Planning Using Generalized Voronoi Diagrams
• library
  • to create triangular decompositions of polygonal 2D environments