Coverage path planner
---------------------

Grid based sweep
~~~~~~~~~~~~~~~~

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

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/GridBasedSweepCPP/animation.gif

Code Link
+++++++++++++

.. autofunction:: PathPlanning.GridBasedSweepCPP.grid_based_sweep_coverage_path_planner.planning

Spiral Spanning Tree
~~~~~~~~~~~~~~~~~~~~

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

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/SpiralSpanningTreeCPP/animation1.gif
.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/SpiralSpanningTreeCPP/animation2.gif
.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/SpiralSpanningTreeCPP/animation3.gif

Code Link
+++++++++++++

.. autofunction:: PathPlanning.SpiralSpanningTreeCPP.spiral_spanning_tree_coverage_path_planner.main

Reference
+++++++++++++

- `Spiral-STC: An On-Line Coverage Algorithm of Grid Environments by a Mobile Robot <https://ieeexplore.ieee.org/abstract/document/1013479>`_


Wavefront path
~~~~~~~~~~~~~~

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

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/WavefrontCPP/animation1.gif
.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/WavefrontCPP/animation2.gif
.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/WavefrontCPP/animation3.gif

Code Link
+++++++++++++

.. autofunction:: PathPlanning.WavefrontCPP.wavefront_coverage_path_planner.wavefront

Reference
+++++++++++++

- `Planning paths of complete coverage of an unstructured environment by a mobile robot <https://pinkwink.kr/attachment/cfile3.uf@1354654A4E8945BD13FE77.pdf>`_


