# Coverage path planner — PythonRobotics documentation

# Coverage path planner

## Grid based sweep

This is a 2D grid based sweep coverage path planner simulation:

## Spiral Spanning Tree

This is a 2D grid based spiral spanning tree coverage path planner simulation:

- Spiral-STC: An On-Line Coverage Algorithm of Grid Environments by a Mobile Robot

## Wavefront path

This is a 2D grid based wavefront coverage path planner simulation:

- Planning paths of complete coverage of an unstructured environment by a mobile robot