Research on boustrophedon complete coverage path planning based on binary search
Cheng Ching Yu · Computer Engineering and Applications Journal · 2011
This paper proposes an improved boustrophedon complete coverage path planning combined with binary search. There are some static obstacles in the grid environment.The binary search algorithm enable robot search next uncovered area faster so as to increase coverage efficiency.The proposed algorithm is tested in many indoor environments.Simulation results show that the method is feasible and is not sensitive to robot’s initial position.In addition,compared with other algorithm, the proposed method is more effective.