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Motion planning is an essential pillar of modern robotics, enabling robots to move efficiently and autonomously in their environment. In the field of mobile robotics, motion planning is of particular importance, as it plays a crucial role in applications such as cleaning robots, where complete coverage of an area is essential for optimum performance.

The Boustrophedon Cell Decomposition (BCD) is a method for coverage path planning for cleaning robots. This cell decomposition method divides the robot's reachable area into non-overlapping cellular regions. The robot's trajectory is then determined by the sequence of cells to be visited.

In this project, we implement the BCD algorithm for a cleaning robot to cover a given area.

Results:

To visualize the robot's trajectory, we read the csv file of positions (which contains x, y cells and time), create cells covering the entire domain and make the robot follow the path created.

Path

To simulate the robot's trajectory in a fluid, we use the fluid toolbox of the Feel++ finite element library and the csv file containing the velocities.

Trajectory

We read the mesh with the Pyvista library and display the mesh.

In the case of a single obstacle, we have the following figure.