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Asked: 2026-06-03T06:41:08+00:00

I am implementing a basic robot which uses a SLAM algorithm to produce an

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I am implementing a basic robot which uses a SLAM algorithm to produce an occupancy grid of it’s environment. It is very simple with no probabilistic aspect, simply an enum to represent Empty, Occupied, Unexplored, Unreachable etc.

I was wondering if there is a well known algorithm to find the shortest path necessary to visit all of the grid cells once (it’s a Vacuum cleaner!). Is this the Travelling Salesman Problem?

I have researched a couple of solutions based on Graphs, for example finding Hamiltonian Cycles, but i wondered if there was anything which efficiently worked on Grids directly.

The grid will be around 250×250 cells.

Thanks!

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  1. Editorial Team

    Just thought id add my solution to this unanswered question – Most algorithms I tried out were just too computationally complex. I settled on an approximation of the maximum-coverage path which was quite efficiently computed using the reverse wavefront algorithm.

    Using this algorithm I was able to construct a maximum-coverage path of a 250×250 array of grid cells in around 5 seconds, which was certainly acceptable in my scenario.

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