Our project is based on the cell decomposition from Shikhar Dev Gupta. We revise some codes and use these to solve the Complete Coverage Path Planning problem.

Specifically, we use the python package to solve the tsp problem, check dmishin/tsp-solver

To generate the final path, run the following code:

python generate_final_path.py img_file_name output_file_name width step safeWidth

We also provide multiprocessing version: python generate_final_path_mp.py img_file_name output_file_name width step safeWidth num_processes unit

In our example:

python generate_final_path.py new_paint.png output.csv 20 -1 20

If you want to use multi_processing:

python generate_final_path_mp.py new_paint.png output.csv 20 -1 20 4 2

where step and safewidth could be set to -1, if you don't want to consider the step and safe width problem.

Final path example

Final path example with step