An Optimal Path Planning Method with Assigned Endpoints in Grid Maps

In this paper, an optimal path planning method with assigned endpoints is developed for complete coverage in grid maps. It is shown that, the complete coverage path can be generated by merging the coverage paths of multiple subregions. Initially, several path planning templates are constructed to minimize repetition in regular regions. Subsequently, the grid map is decomposed into multiple subregions based on the locations of the assigned endpoints. Each region is then traversed with the corresponding template according to the parity of the region. Finally, all paths within the subregions are merged to form a comprehensive coverage path. It is demonstrated that the resulting path exhibits minimal repetition while covering the grid map completely with assigned endpoints. Simulation results are provided to validate the excellent performance of presented path planning method.