Coverage path generation method and moving object

Abstract

To provide a coverage path generation method that can generate an efficient coverage path from two orthogonal directions, and a moving object that can efficiently move an operation area using the coverage path.SOLUTION: A coverage path generation method includes: a dividing step of dividing a two-dimensional map M indicating an operation area 1 into a plurality of cells by lines along a predetermined first direction and lines along a second direction orthogonal to the first direction on the basis of an obstacle 3; a path generation step of generating a zigzag path for each of the cells; and a movement path generation step of generating a coverage path by connecting the zigzag paths of adjacent cells by a movement path. After a first coverage path is generated by executing the dividing step, the path generation step, and the movement path generation step, the two-dimensional map M is rotated by 90° in a predetermined direction, and a second coverage path is generated by re-executing the dividing step, the path generation step, and the movement path generation step for the rotated two-dimensional map M.SELECTED DRAWING: Figure 1

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