Algorithm 3 Pseudocode for the complete coverage path planning

1:Input: Map, currentPose 2:Output: RSTCpath 3:determine occupancy grid map based on png map image 4:determine spanning tree based on Algorithm 1 5:determine the RSTC path based on Algorithm 2 6:while it reaches the starting subcell again do 7:    if unknown obstacle is detected then 8:        occupy cells in which unknown obstacle is detected 9:        if exist the unvisited grid cells then 10:           determine the new spanning tree based on Algorithm 1 for the rest unvisited grid cells 11:           determine the new RSTC path based on Algorithm 2 for the rest unvisited grid cells 12:       else 13:           determine the RSTC path around the obstacle so that the minimum number of double-covered subcells is obtained and connect it with previously planned path 14:       end if 15:   end if 16:   if unknown obstacle cleared occupied cells then 17:        set these cells as free in the occupancy grid map 18:        if current cell is diagonal neighbor of the occupied cell then 19:           add these cells in the previously determined spanning tree 20:           determine the new RSTC path based on Algorithm 2 21:        end if 22:    end if 23:end while 24:return the RSTC path