Research Article
Optimal Multirobot Coverage Path Planning: Ideal-Shaped Spanning Tree
Figure 5
Optimal coverage paths for terrain with grid size, 9 robots, and 100 obstacles.
(a) Initial cells’ discretization, nodes, obstacles, and robots’ positions |
(b) Divide the terrain into subareas by DARP algorithm |
(c) Construct STs for subareas by Kruskal’s or Prim’s algorithm |
(d) Construct STs for subareas by improved ACO algorithm |
(e) Exchange end nodes among subareas |
(f) Final paths around the STs |