Coverage Path Planning for Spraying Drones

The COVID-19 pandemic is causing a devastating effect on the health of global population. There are several efforts to prevent the spread of the virus. Among those efforts, cleaning and disinfecting public areas has become an important task. This task is not restricted to disinfection, but it is also applied to painting or precision agriculture. Current state of the art planners determine a route, but they do not consider that the plan will be executed in closed areas or they do not model the sprinkler coverage. In this paper, we propose a coverage path planning algorithm for area disinfection, our method considers the scene restrictions as well as the sprinkler coverage. We have tested the method in several simulation scenes. Our experiments show that the method is efficient and covers more areas with respect to current methods.