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