# CoveragePlanner

**Repository Path**: hzustc/CoveragePlanner

## Basic Information

- **Project Name**: CoveragePlanner
- **Description**: very good Coverage Planner for robot
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 2
- **Created**: 2021-04-01
- **Last Updated**: 2024-03-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# CoveragePlanner

**Dependencies：**

CGAL 5.0

OpenCV 4.0

Eigen 3.0

**demo:**

![original pgm map](https://github.com/RicheyHuang/CoveragePlanner/blob/master/result/result.gif)

**original pgm map:**

![original pgm map](https://github.com/RicheyHuang/CoveragePlanner/blob/master/data/basement.png)

**acquire polygon boundary and obstacles:**

![acquire polygon boundary and obstacles](https://github.com/RicheyHuang/CoveragePlanner/blob/master/result/basement_contour.png)

**boustrophedon cellular decomposition:**

![boustrophedon cellular decomposition](https://github.com/RicheyHuang/CoveragePlanner/blob/master/result/basement_decomposition.png)

**path planning by solving TSP:**

![path planning by solving TSP](https://github.com/RicheyHuang/CoveragePlanner/blob/master/result/basement_path.png)