Full Coverage Path Planner (FCPP)

Overview

This package provides an implementation of a Full Coverage Path Planner (FCPP) using the Backtracking Spiral Algorithm (BSA), see [1].

This packages acts as a global planner plugin to the Move Base Flex package (http://wiki.ros.org/move_base_flex).

fcpp_robot_0_5m_plus_tool_0_2m.png

The user can configure robot radius and tool radius separately:

robot_plus_tool.png

Source code at https://github.com/nobleo/full_coverage_path_planner.

Tutorials

See full_coverage_path_planner/Tutorials.

Acknowledgement

ROSIN Logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

EU Flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement No. 732287.

References

[1] GONZALEZ, Enrique, et al. BSA: A complete coverage algorithm. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation. IEEE, 2005. p. 2040-2044.

Wiki: full_coverage_path_planner (last edited 2020-07-10 07:09:37 by César López)