Research Article
Optimal Multirobot Coverage Path Planning: Ideal-Shaped Spanning Tree
Figure 1
Comparison of two ST algorithms.
(a) Initial cells’ discretization, obstacles |
(b) Nodes, gather four cells together |
(c) Construct STs for available cells by improved ACO algorithm |
(d) Final paths around the ST (by improved ACO algorithm) |
(e) Construct STs for available cells by depth-first search algorithm |
(f) Final paths around the ST (by depth-first search algorithm) |