Guruprasad, K.R.Ranjitha, T.D.2026-02-052021Robotica, 2021, 39, 7, pp. 1141-11622635747https://doi.org/10.1017/S026357472000096Xhttps://idr.nitk.ac.in/handle/123456789/23188A new coverage path planning (CPP) algorithm, namely cell permeability-based coverage (CPC) algorithm, is proposed in this paper. Unlike the most CPP algorithms using approximate cellular decomposition, the proposed algorithm achieves exact coverage with lower coverage overlap compared to that with the existing algorithms. Apart from a formal analysis of the algorithm, the performance of the proposed algorithm is compared with two representative approximate cellular decomposition-based coverage algorithms reported in the literature. Results of demonstrative experiments on a TurtleBot mobile robot within the robot operating system/Gazebo environment and on a Fire Bird V robot are also provided. © 2021 Cambridge University Press. All rights reserved.Agricultural robotsMechanical permeabilityArea coveragesCell permeabilityCoverage algorithmsCoverage path planningFormal analysisRobot operating systemMobile robots