Coverage path planner

Grid based sweep

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

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