Coverage Path Planning

Coverage Path Planning (CPP) refers to the process of planning a path for a mobile robot or drone to cover a given area while minimizing the amount of time and energy required. The goal of CPP is to ensure that the robot or drone covers every part of the area once and only once, without revisiting any areas or missing any spots. CPP is commonly used in applications such as lawn mowing, agriculture, search and rescue, and environmental monitoring.

There are several algorithms used for CPP, including:

1. Grid-based algorithms: These algorithms divide the area into a grid and plan a path to cover each cell of the grid.

2. Voronoi-based algorithms: These algorithms use Voronoi diagrams to divide the area into regions and plan a path to cover each region.

3. Sweep-line algorithms: These algorithms use a sweep-line technique to plan a path that covers the area in a single continuous sweep.

4. Genetic algorithms: These algorithms use genetic algorithms to optimize the path planning process.

The choice of algorithm depends on the specific requirements and constraints of the application, such as the size and shape of the area to be covered, the mobility of the robot or drone, and the desired speed and accuracy of coverage.