Path planning algorithm based on sub-region for agricultural robot

This paper proposes a agricultural robot´s complete coverage path-planning method based on sub-region to avoid the overabundance of turns in narrow areas. First, a given environment is divided into several sub-regions without preserves. Second, the robot finds out the covering order of subregions by transforming it into the problem of Depth-First Search (DFS), and then it can cover all sub-regions in the DFS order. When covering every sub-region, the robot travels along the longer side of sub-region. The simulation experiment verifies that the sub-region covering method can effectively reduce the number of turns.