Abstract: A special kind of path planning is complete coverage path planning.There are a lot of algorithms on this problem have been developed，e.g.template based，cellular decomposition.But these algorithms just cover the complete area；they are not designed to optimize the process.This paper presents a method of complete coverage path planning based on genetic algorithms，which combine the advantages of cellular decomposition and template algorithm.The environment is divided in sub-regions as in rectangular decomposition method，and then Genetic Algorithms（GA） is used to compute and find the order of the sub-regions and the appropriate template for each region. The algorithm is tested in the virtual environment；the simulation results confirm the feasibility of this method.

Key words: complete coverage path planning, Genetic Algorithms（GA）, rectangular decomposition method, template algorithm

摘要： 全区域覆盖是一种特殊的路径规划，要求遍历环境中所有的可达区域。目前已经提的许多算法，如模板算法、分块算法等，都只能保证覆盖所有的区域，对于寻找全局最优解却无能为力。提出了一种基于遗传算法的全区域覆盖算法，结合分块算法和模板算法的优点。先采用矩形分解法将环境划分成若干个相邻的子模块，并为每一个子模块选用相应的模板，从而生成覆盖路径，然后采用遗传算法找出最优的路径。算法在虚拟环境中进行了实验，实验结果证明了其可行性和有效性。

关键词: 全区域覆盖路径规划, 遗传算法, 矩形分解法, 模板算法