Smooth Complete Coverage Trajectory Planning Algorithm for a Nonholonomic Robot

. 2022 Nov 28;22(23):9269. doi: 10.3390/s22239269

Algorithm 1 Pseudocode for the spanning tree

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Input: occupancyGridMap, currentPose
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Output: spanningTree
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insert starting cell which contains the robot’s position in the queue spanningTree
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while all free cells in $o c c u p a n c y G r i d M a p$ have been visited do
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determine all orthogonal and unvisited neighbors of the current cell moving counterclockwise and add them to the queue $n e i g h b o r$
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for all cells in queue $n e i g h b o r$ do
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if distance of current cell in spanningTree and neighbor $\leq 1$ then
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add current cell to the queue spanningTree
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set current cell in $o c c u p a n c y G r i d M a p$ as visited
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go to the neighbor cell
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end if
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end for
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if distance of current cell in spanningTree and neighbor $> 1$ then
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for cells in queue $s p a n n i n g T r e e$ do
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if distance of current cell in spanningTree and neighbor $\leq 1$ then
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go to the neighbor cell
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else
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move to the previous cell in queue $s p a n n i n g T r e e$
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end if
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end for
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end if
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end while
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return the spanning tree