CT-CPP: Coverage Path Planning for 3D Terrain Reconstruction Using Dynamic Coverage Trees

This letter addresses the 3D coverage path planning (CPP) problem for terrain reconstruction of unknown obstacle rich environments. Due to sensing limitations, proposed method, called CT-CPP, performs layered scanning region collect data, where traveling sequence is optimized using concept a tree (CT) with TSP-inspired traversal strategy. The CT-CPP method validated on high-fidelity underwater simulator and results are compared an existing following CPP method. show that yields significant reduction in trajectory length, energy consumption, error.