Optimizing Autonomous Area Search: A Synergistic Approach Using Voronoi Graphs and the Boustrophedon Algorithm

Efficient area search is critical in autonomous systems for applications like agricultural automation and disaster response. This paper introduces a novel method combining Voronoi graph creation with the Boustrophedon algorithm to optimize path planning and coverage. Voronoi graphs segment the search area into manageable regions, while the Boustrophedon algorithm ensures thorough coverage with a sweeping pattern. Our integrated approach, evaluated through simulations and experiments, shows significant improvements in coverage efficiency and path optimization. This research advances autonomous navigation and offers a robust solution for efficient area search, with future work focusing on dynamic environments and real-time applications.