Dependencies：
CGAL 5.0
OpenCV 4.0
Eigen 3.0
demo:
original pgm map:
acquire polygon boundary and obstacles:
boustrophedon cellular decomposition:
path planning by solving TSP:
Complete Coverage Path Planning Using BCD Algorithm
Dependencies：
CGAL 5.0
OpenCV 4.0
Eigen 3.0
demo:
original pgm map:
acquire polygon boundary and obstacles:
boustrophedon cellular decomposition:
path planning by solving TSP:
Complete Coverage Path Planning Using BCD Algorithm