Full Coverage Path Planner (FCPP)

Overview

This package provides an implementation of a Full Coverage Path Planner (FCPP) using the Backtracking Spiral Algorithm (BSA), see [1].

This packages acts as a global planner plugin to the Move Base Flex package (http://wiki.ros.org/move_base_flex).

The user can configure robot radius and tool radius separately:

Source code at https://github.com/nobleo/full_coverage_path_planner.

Tutorials

See full_coverage_path_planner/Tutorials.

Acknowledgement

References

[1] GONZALEZ, Enrique, et al. BSA: A complete coverage algorithm. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation. IEEE, 2005. p. 2040-2044.