Abstract: This paper proposes an improved boustrophedon complete coverage path planning combined with binary search.There are some static obstacles in the grid environment.The binary search algorithm enable robot search next uncovered area faster so as to increase coverage efficiency.The proposed algorithm is tested in many indoor environments.Simulation results show that the method is feasible and is not sensitive to robot’s initial position.In addition，compared with other algorithm，the proposed method is more effective.

Key words: complete coverage path planning, boustrophedon, binary search

摘要： 针对栅格环境下存在任意形状的静态障碍物问题，提出了结合二分搜索法的牛耕式全覆盖路径规划算法，该算法可以加速寻找下一个未覆盖空间的初始位置，提高了覆盖的效率。对该算法在多种室内环境中进行仿真，仿真结果表明该算法切实可行。另外，通过与其他全覆盖算法进行对比，结果表明该方法能有效地降低重复覆盖率。

关键词: 全覆盖路径规划, 牛耕式, 二分法