Multi-Robot Path Planning for Sweep Coverage On 2-D Area

In this paper, the sweep coverage on a 2-D area is studied by utilizing multi-robot. Based on spatial resolution requirements and sensor sensing capabilities, the target area can be discretized into multiple grids to be covered. The sweep coverage of an area can be transferred into a multi-robot coverage path planning problem (mCPP). In order to solve this problem with less optimization computational cost, a novel partitioning method is firstly proposed to divide the target area into sub-areas, and an improved spanning tree coverage algorithm is then proposed to solve the path planning of a single robot covering its sub-area. Finally, the simulation results are provided to verify the effectiveness of the proposed method.