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The paper presents a strategy for robotic exploration problem usingSpace-Filling curves (SFC). The strategy plans a path that avoids unknownobstacles while ensuring complete coverage of the free space in region ofinterest. The region of interest is first tessellated, and the tiles/cells areconnected using a SFC pattern. A robot follows the SFC to explore the entirearea. However, obstacles can block the systematic movement of the robot. Weovercome this problem by determining an alternate path online that avoids theblocked cells while ensuring all the accessible cells are visited at leastonce. The proposed strategy chooses next waypoint based on the graphconnectivity of the cells and the obstacle encountered so far. It is online,exhaustive and works in situations demanding non-uniform coverage. Thecompleteness of the strategy is proved and its desirable properties arediscussed with examples.

Space Filling Curves for Coverage Path Planning with Online Obstacle Avoidance