jiejiezhang / CoveragePlanning

decompose the convex polygon and for each of them, Boustrophedon planning? just complete coverage

Coverage Planning

Recommend use CGAL library to finish this coverage planning due the bugs of this repository.

0. Overview

BUG when confronted with complicated polygons

Here is the good one

Then we have got a bad one

the bug lies in PolygonDecomposition::DecomposeIt() where the processing of erasing polygons and adding polygons

Decompose the given polygon if concave

Compute a bow-shape complete coverage path for every polygon

1. Dependency

• Eigen

• OpenCV

2. Reference

The decomposition algorithm is proposed by ZHU chuanmin, TANG jun and XU tiangui

from College of Mechanical Engineering, Tongji University, Shanghai, China

The paper link : https://wenku.baidu.com/view/a3ccf9abf705cc1755270974.html

The reason I take this algorithm cause I came from Tongji

3. Run

# build
mkdir build
cd build
cmake ..
make
# run
./planner