Robot Vacuum Navigation Planner

To run:

1. Edit variable 'img_path' in main.cpp to add local path of custom maps.

2. Build and run main.cpp

Cleaned areas will be shown in red. Cleaned, path overlap (multiple passes) areas will be shown in blue.

Bot is a circle of radius 4. (Can be changed, variable 'radius' in main.cpp)

Sample output:

For test map:

In process of cleaning:

Final sweep path, with overlaps (repeated traversals) in blue: