Coverage Path Planning Techniques for Inspection of Disjoint Regions With Precedence Provision

Recent times are witnessing an emergence of sites that hazardous for human access. This has created a global demand to equip agents with the ability autonomously inspect such environments by computing coverage path effectively and efficiently. However, inspection requires consider correlation work, providing precedence provision in visiting regions. The current approaches compute sites, however, do not provision. To this end, planning strategies proposed, which provide meet challenges, problem is divided into two phases: inter-region intra-region planning. In `inter-region' approach, site comprising multiple disjoint regions modelled as connectivity graph. Two novel approaches, Mixed Integer Linear Programming (MILP) solution heuristic based techniques, proposed generate ordered sequence be traversed. `intra-region' each region decomposed grid Boustrophedon Motion planned over region. combined approach complete proved under minor assumption. An investigative study been conducted elucidate efficiency different scenarios using simulation experiments. evaluated against baseline approaches. results manifest significant reduction cost execution time, caters target