Robot Coverage Path Planning Based on Iterative Structured Orientation

Coverage path planning for mobile robots aims to compute the shortest path that ensures the overlap of a given area, with applications in various domains. This paper proposes a coverage path planning strategy, referred to as Iterative Structured Orientation Coverage, which has two main advantages over the state-of-the-art, namely it is it versatile and it is capable to handle complex environments. The path planning strategy is expressed as three new approaches to coverage path planning. The suggested approaches are validated by simulation and experimental results. The source codes along with the test set are available in a public repository.