how to complete coverage path?
hello,as you see in the picture. I just wanna a optimal coverage algorithm.the robot start from the top left corner and walk a path looks like "S"(is it called U-turn algorithm?),and now I have two questions
1.how can I know that the robot has covered the rectangle when robot arrive the top right corner?
2.how can I find the uncovered area ( blank rectangle in the left bottom) in the large rectangle? (maybe max rectangle algorithm can be used?)
I have read some paper about coverage path planning,but I still could not figure it out. And I know a lot about path planning algorithm(Dijkstra,A star,D star and so on).
I have tried to accomplish this base on navigation_stack and costmap,but the two problems above have not been solved.and this path are grid-based,
finally, thanks.
i think i almost figure it out, there is a paper talk about this
It depends if you want to use a map or not (thus, occupancy grid, costmap etc). If you are using a costmap then you can create a layer and apply a new cost for the explored cells and then compare your layer with your costmap to see if there are still unexplored cells.