Algorithm 1 Overview of the Proposed Path Planner.

(1).Image-based C-space formation: Locate the interested regions in the map, then transform the map to a binary image; Merge the neighboring ROIs via the morphological operation, then detect the ROIs by the connected-component labeling technique; (2).Collection neighborhoods localization: Classify the ROIs via contour analysis, and then locate the boundaries of the collection neighborhoods; (3).Near-optimal collection segments localization: Compute the visiting sequence, search the optimal approach angle of each ROI, then search the optimal collection segment at each optimal angle; (4).Adjacent collection segments connection: Connect the adjacent collection segments via SSAS.