Coverage path planner

Grid based sweep

This is a 2D grid based sweep coverage path planner simulation:

The underlying occupancy grid has finite boundaries. Cell indices range from zero to one less than the number of columns or rows. Cells outside either axis are treated as occupied by the sweep search, and obstacle expansion is clipped at the grid boundary rather than wrapping into another row.

Code Link

PathPlanning.GridBasedSweepCPP.grid_based_sweep_coverage_path_planner.planning(ox, oy, resolution, moving_direction=MovingDirection.RIGHT, sweeping_direction=SweepDirection.UP)

Spiral Spanning Tree

This is a 2D grid based spiral spanning tree coverage path planner simulation:

Code Link

PathPlanning.SpiralSpanningTreeCPP.spiral_spanning_tree_coverage_path_planner.main()

Reference

• Spiral-STC: An On-Line Coverage Algorithm of Grid Environments by a Mobile Robot

Wavefront path

This is a 2D grid based wavefront coverage path planner simulation:

Code Link

PathPlanning.WavefrontCPP.wavefront_coverage_path_planner.wavefront(transform_matrix, start, goal)

performing wavefront coverage path planning

Parameters:

• transform_matrix – the transform matrix

• start – start point of planning

• goal – goal point of planning

Reference

• Planning paths of complete coverage of an unstructured environment by a mobile robot