CoveragePlanner
Complete Coverage Path Planning Using BCD Algorithm
Install / Use
/learn @RicheyHuang/CoveragePlannerREADME
CoveragePlanner
Dependencies:
CGAL 5.0
OpenCV 4.0
Eigen 3.0
demo:

original pgm map:

acquire polygon boundary and obstacles:

boustrophedon cellular decomposition:

path planning by solving TSP:

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