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)