«The number of two-dimensional surveying missions with unmanned
aerial vehicles has dramatically increased in the last years. To fully automatize
the surveying missions it is essential to solve the coverage path planning problem
defined as the task of computing a path for a robot so that all the points of a region
of interest will be observed. State-of-the-art planners define as the optimal path
the one with the minimum number of flight lines. However, the connection path,
composed by the path from the starting point to the region of interest plus the
path from it to the ending point, is underestimated. We propose an efficient planner for computing the optimal edge-vertex back-and-forth path. Unlike previous
approaches, we take into account the starting and ending points. In this article,
we demonstrate the vertex-edge path optimality along with in-field experiments
using a multirotor vehicle validating the applicability of the planner.»

You can find more details at our paper:

  • Juan Irving Vasquez-Gomez, Magdalena Marciano-Melchor, Luis Valentin, Juan Carlos Herrera-Lozada, Coverage Path Planning for 2D Convex Regions. Journal of Intelligent & Robotic Systems. 2019
    vg_coverage_journal_accepted This is a post-peer-review, pre-copyedit version of an article published in Journal of Intelligent & Robotic Systems. The final authenticated version is available online at: https://doi.org/10.1007/s10846-019-01024-y.

The implementation was done in matlab and can be downloaded at: