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The novelty of the technique presented here is that it can provide fast and particularly suitable routes without considering the full scenario if environmental changes appear. The new method is designed to work with a post-process technique in order to provide admissible paths for car-like robots coping with kinematic constraints. This new approach is capable of supplying continuous paths and also elaborate maneuvers if cluttered environments are involved.<\/jats:p>","DOI":"10.1017\/s0263574711001342","type":"journal-article","created":{"date-parts":[[2012,1,23]],"date-time":"2012-01-23T05:35:24Z","timestamp":1327296924000},"page":"1189-1201","source":"Crossref","is-referenced-by-count":3,"title":["Vodec: A fast Voronoi algorithm for car-like robot path planning in dynamic scenarios"],"prefix":"10.1017","volume":"30","author":[{"given":"Diego A.","family":"L\u00f3pez Garc\u00eda","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fernando","family":"Gomez-Bravo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2012,1,23]]},"reference":[{"key":"S0263574711001342_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2004.824855"},{"key":"S0263574711001342_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2009.11.019"},{"key":"S0263574711001342_ref22","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574707003980"},{"key":"S0263574711001342_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/70.326564"},{"key":"S0263574711001342_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.08.004"},{"key":"S0263574711001342_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/BF01840357"},{"key":"S0263574711001342_ref12","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"S0263574711001342_ref8","volume-title":"Proceedings of the 6th IFAC Symposium on Intelligent AutonomousVehicles, Toulouse","author":"Gomez-Bravo","year":"2007"},{"key":"S0263574711001342_ref13","first-page":"293","volume-title":"Algorithmic and Computational Robotics: New Directions","author":"LaValle","year":"2001"},{"key":"S0263574711001342_ref18","first-page":"2468","volume-title":"Proceedings of 1993 IEEE International Conference on Intelligent Robots and Systems","author":"Rezaei","year":"2003"},{"key":"S0263574711001342_ref20","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574701003630"},{"key":"S0263574711001342_ref21","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709005402"},{"key":"S0263574711001342_ref16","doi-asserted-by":"publisher","DOI":"10.1142\/S0218195901000626"},{"key":"S0263574711001342_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/B978-044482537-7\/50006-1"},{"key":"S0263574711001342_ref23","unstructured":"D. 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Aurenhammer , \u201cStraight skeletons for general polygonal figures,\u201d Technical Report 432, (Institute of Theoretical Computer Science, Graz University of Technology, Graz, Austria, 1995).","DOI":"10.1007\/3-540-61332-3_144"},{"key":"S0263574711001342_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/BF02716580"},{"key":"S0263574711001342_ref24","doi-asserted-by":"crossref","first-page":"33","DOI":"10.3233\/ICA-2007-14104","article-title":"Trajectory planning and sliding-mode control based trajectory-tracking for cybercars","volume":"14","author":"Razvan","year":"2007","journal-title":"Integr. Comput.-Aided Eng."},{"key":"S0263574711001342_ref19","doi-asserted-by":"crossref","first-page":"161","DOI":"10.3233\/HIS-2005-2301","article-title":"Automatic design of fuzzy logic controller using a genetic algorithm for collision-free, time-optimal navigation of a car-like robot","volume":"2","author":"Baran","year":"2005","journal-title":"Int. J. Hybrid Intell. 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