how can i apply voronoi command in this file anybody can help me with that?

how can i apply voronoi diagram inside this command

clc; close;

openfig('Simple4.fig');hold on

Xs=1; Ys=1; Xg=9; Yg=9;

n=1300;  step=0.5

CON=zeros(n);

size=1; Reach=0; N=zeros(2,n); N(1,1)=Xs; N(2,1)=Ys;

tic; 

while size<n

      if sqrt((N(1,size)-Xg)^2+(N(2,size)-Yg)^2)<step

          Reach=1; ReachG=size; break

      end

      %%%%%%%%%%%%%%%Xrand (Collision Free) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

      CD=0;

      while CD==0

          Xc=10*rand(1); Yc=10*rand(1); Xn=Xc; Yn=Yc; simple4ColDec

      end

      Xrand=Xc; Yrand=Yc;

      %%%%%%%%%%%%%%%Xnearest %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

      min=100;

      for i=1:size

          if sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2)<min

              min=sqrt((N(1,i)-Xrand)^2+(N(2,i)-Yrand)^2);

              Xnearest= N(1,i); Ynearest=N(2,i); nearest=i;

          end

      end

   %%%%%%%%%%%%%%%Xnew (Expanding the tree) %%%%%%%%%%%%%%%%%%%%%%%%%%%%

      Xc=Xnearest; Yc=Ynearest; CD=1;

      D=sqrt((Xnearest-Xrand)^2+(Ynearest-Yrand)^2);

      if step<=sqrt((Xnearest-Xrand)^2+(Ynearest-Yrand)^2)

          Xn=((v-step)/v)*Xnearest+(step/v)*Xrand;

          Yn=((v-step)/v)*Ynearest+(step/v)*Yrand;

      else

         Xn=Xrand; Yn=Yrand;

      end 

      simple4steer

      if CD==1

          Xnew=Xrand; Ynew=Yrand;

      else

          Xnew=((v-1)/100)*Xrand+(1-(v-1)/100)*Xnearest;

          Ynew=((v-1)/100)*Yrand+(1-(v-1)/100)*Ynearest;

end

      size=size+1

      N(1,size)=Xnew; N(2,size)=Ynew;

      CON(nearest,size)=sqrt((N(1,nearest)-N(1,size))^2+ ...

      (N(2,nearest)-N(2,size))^2);

      CON(size,nearest)=CON(nearest,size);

end

t1=toc;

Reach

if Reach==1

      N(1,size+1)=Xg; N(2,size+1)=Yg;

      CON(ReachG,size+1)=sqrt((N(1,ReachG)-Xg)^2+(N(2,ReachG)-Yg)^2);

      CON(size+1,ReachG)=CON(ReachG,size+1);

end

for i=1:size

      plot(N(1,i),N(2,i),'go','markersize',2,'MarkerFaceColor','g');

      for j=1:size

         if CON(i,j)>0

             plot([N(1,j) N(1,i)], [N(2,j) N(2,i)],'color',...

             [0,0.5,0.8],'linewidth',1);

         end 

      end  
  end

if Reach==1

      G=sparse(CON);

      [dist, path]=graphshortestpath(G, 1, size+1); l=length(path);

      for i=1:l-1

          plot([N(1,path(i)) N(1,path(i+1))], [N(2,path(i)) ... 

          N(2,path(i+1))],'b','linewidth',3);

      end

end 

[t1 dist Reach]

plot(Xs,Ys,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...

'MarkerFaceColor','y','MarkerSize',20); hold on

plot(Xg,Yg,'--rs','LineWidth',2.5,'MarkerEdgeColor','k',...

'MarkerFaceColor','g','MarkerSize',20)

axis equal

[Geoff Hayes]

amina - with which set of data do you wish to create the Voronoi diagram? What is your code doing?