# boustrophedon_planner

**Repository Path**: C-Qiyao/boustrophedon_planner

## Basic Information

- **Project Name**: boustrophedon_planner
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: LGPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-09-02
- **Last Updated**: 2024-09-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

> [!WARNING]  
> **NOTE**: _This repository is no longer supported or updated. If you wish to continue to develop this code yourself, we recommend you fork it._</code>



# Boustrophedon Planner
Boustrophedon Planner is a coverage path planner that implements a modified cellular decomposition algorithm. The original can be found [here](https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6806237/).

## 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](half-y-turn-concave.png)

## Changelog

- January 23, 2020:
  - The boustrophedon planner can now handle all types of simple polygons that it is given, both convex and concave.
  - Inner boundaries are supported, allowing the planner to create paths at a certain offset from the initial given boundary.
  - "Half - Y" turns are supported, allowing for some curvature at the start / end of paths to assist robots that are not      completely holonomic.
  - Many new launch file parameters allow the user to specify more precisely the behavior that they want the plan to have

## License

This repository is subject to version 3 of the GNU Lesser General Public License or later due to its dependencies.

The geometric operations rely on CGAL which is restricted by version 3 of the GNU Lesser General Public License.