I have a mobile robot which is navigating around a room, I already have the map of the room. I am using the navigation_stack of ROS. I am using rotary encoders for odometry. I am fusing the data from Rotary encoders and IMU using robot_pose_ekf. I am using amcl for localization and move_base for planning.
Now, I have to write a Complete coverage Path planning algorithm and I am following this paper and I would like to ask what is the best way to generate the Boustrophedon path (simple forward and backward motions) in a cell (can be rectangular, trapezium, etc.) with no obstacles? I read a paper where they use different templates and combine them in a certain way to come up with the Boustrophedon path. Is there any other way by which we can generate the boustrophedon path? If someone can suggest how to implement it in ROS, that will be great.
Please let me know if you need more information from me. Any help will be appreciated.