The invention provides a full-coverage path
planning method and
system based on a
minimum spanning tree of transverse and longitudinal control and an A *
algorithm, and the method comprises the steps: (1), carrying out the rasterization of an original map of a
robot, and obtaining a raster map, and enabling each raster to be the size of one
robot; (2) in order to improve the
time efficiency and reduce the calculation complexity, carrying out partition
processing on the grid map; (3) each
grid partition is subjected to composition according to the up-down-left-right relation, and a graph structure represented by an
adjacency list method is obtained; (4) executing a
minimum spanning tree algorithm on each
grid partition to fulfill the aim of fully covering the partition; (5) in order to obviously reduce the problem of excessive turning in full-coverage path planning, executing transverse and longitudinal control on the
minimum spanning tree algorithm; (6) different grid partitions are migrated through A *; and then the steps (3)-(6) are repeated until all the grid partitions are covered. The method introduces the minimum
spanning tree algorithm of transverse and longitudinal control and A * to solve the full-coverage path planning, has the advantages of
high coverage rate and low repetition rate, reduces the traversal time, reduces the turning times through transverse and longitudinal control, and improves the
system efficiency. And meanwhile, through partition
processing, the complexity of the
adjacency list representation graph structure is reduced, and the time consumption of algorithm planning is remarkably reduced.