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Coverage path planner
C++ CMake C
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README.md

Boustrophedon Planner

Boustrophedon Planner is a coverage path planner that implements the Boustrophedon Cell Decomposition algorithm.

Overview

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.

Sample Boustrophedon Plan

License

This library is released under the MIT License by Greenzie. See License for full details.

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