The path planning problem has been proven both PSPACE complete and NP complete. All the traditional approaches have only had marginal results when trying to tackle this problem. In recent years a Probabilistic RoadMap planner (PRM) has been developed that has had impressive results. This planner has had success in high dimensions but because of its randomness it is not appropriate in low dimensions. The Voronoi diagram approach is exact and is thus appropriate in two dimensions. I will discuss my implementation of the Voronoi diagram approach and show that this method is not only faster than the standard visibility graph, but is more desirable as well. Acknowledgements I want to firstly give all the glory to God for providing me with a miracle to start and complete this within three weeks. This year was an especially difficult one for me and I want to thank some people who stuck by me in times of need. My supervisor Dr. Peter Kovesi helped me persevere and made sure I finished something that I started. I want to thank the incredibly young man, Voon-Li Chung for saying that ``You will finish Honours''. I also want to say a special thank you to Chew Yan Nurdin for staying up with me on all those late nights and cheering me on all the way. The rest of the gang, E-Ling Wong, Warren Teh and Chew Lee Nurdin all supported me and boy are we going to celebrate when we go around Australia. I want to thank all of these people for making the impossible, possible. All things are Possible
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