Coverage planner for an indoor map for a vacuum cleaner [closed]

asked 2020-01-13 12:20:57 -0500

ros-noob gravatar image

I have an indoor map of a room which needs to be cleaned. Now my problem is covering all the accessible region with the least overlapping region.

I can't seem to find an appropriate algorithm for my problem. Can anyone help?

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Closed for the following reason duplicate question by ros-noob
close date 2020-01-14 12:25:36.023555

Comments

There are many algorithms around if you dig around with the phrase "complete coverage". That's the magic phrase you're looking for. None of them are perfect, but that's also why there's only 100 iRobot clones and not 10,000.

stevemacenski gravatar image stevemacenski  ( 2020-01-13 14:49:02 -0500 )edit

or Boustrophedon path. Someone has done it for ros/navigation stack

Humpelstilzchen gravatar image Humpelstilzchen  ( 2020-01-13 15:02:55 -0500 )edit

There are a few Q&As about this on ROS Answers already. A recent one would be #q339566 (yes, it says "outdoor roomba", but the idea is the same).

One boustrophedon planner is linked there, in addition to something else.

Please close your question if you feel #q339566 is sufficiently duplicate.

gvdhoorn gravatar image gvdhoorn  ( 2020-01-14 08:20:52 -0500 )edit

Nice one. Did not see them when I searched last year :(

Humpelstilzchen gravatar image Humpelstilzchen  ( 2020-01-14 10:55:50 -0500 )edit

Package visibility and discoverability are an issue. It's not always easy to find things.

gvdhoorn gravatar image gvdhoorn  ( 2020-01-14 10:57:55 -0500 )edit
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