R-DFS: A Coverage Path Planning Approach Based on Region Optimal Decomposition

Most Coverage Path Planning (CPP) strategies based on the minimum width of a concave polygonal area are very likely to generate non-optimal paths with many turns. This paper introduces CPP method Region Optimal Decomposition (ROD) that overcomes this limitation when applied path planning an Unmanned Aerial Vehicle (UAV) in port environment. The principle approach is first apply ROD Google Earth image and combining resulting sub-regions by improved Depth-First-Search (DFS) algorithm. Finally, genetic algorithm determines traversal order all sub-regions. simulation experiments show combination DFS can reduce number turns 4.34%, increase coverage rate more than 10%, shorten non-working distance about 29.91%. Overall, whole provides sound solution for operations UAVs environments.