Boustrophedon Planner is a coverage path planner that implements a modified cellular decomposition algorithm. The original can be found here.

The path planner is an actionlib server that takes in a geometry_msgs/PolygonStamped and a geometry_msgs/PoseStamped, and returns a StripingPlan message which contains a list of waypoints to stripe the passed in polygon.

• January 23, 2020:
  • The boustrophedon planner can now handle all types of simple polygons that it is given, both convex and concave.
  • Inner boundaries are supported, allowing the planner to create paths at a certain offset from the initial given boundary.
  • "Half - Y" turns are supported, allowing for some curvature at the start / end of paths to assist robots that are not completely holonomic.
  • Many new launch file parameters allow the user to specify more precisely the behavior that they want the plan to have

This repository is subject to GNU General Public License version 3 or later due to its dependencies.

The geometric operations rely on CGAL which is restricted by GNU General Public License version 3 or later.