Coverage Path Planning
Coverage planning turns a boundary you've drawn into the route a robot follows to cover the whole area. Open it with the Coverage toolbar button. It produces one of three output types and saves the result as new map layers.
For a step-by-step walkthrough, see Plan a coverage path. This page explains the options.
Choosing an output type
The Coverage Type control picks what you generate:
| Type | What you get | When to use it |
|---|---|---|
| Continuous Path (Single line) | One unbroken path that snakes back and forth (or spirals) to cover the area. | Mowing, spraying, sweeping — any job where the robot drives a continuous route. |
| Rows (Multi-line) | A set of parallel row lines at a fixed spacing, without the connecting turns. | When you want the rows as separate features, e.g. for planting lanes or as input to another tool. |
| Spaced Points | A grid of individual waypoints inside the boundary. | Sampling, inspection, or any task that visits discrete points rather than driving lines. |
Common options
These apply to the continuous-path output and shape the route:
| Control | What it does |
|---|---|
| Name (optional) | Names the generated layers. Leave blank to use " |
| Active Boundary | The drawn boundary to cover. Select it on the map or from the list. |
| Start Point | An optional hint for where the robot should begin. If you omit it, the planner picks one. |
| Working Width (m) | The robot's effective working width (e.g. mower deck or implement width). Drives row spacing. |
| Turn Radius (m) | The tightest turn the robot can make, used when joining rows. |
| Turn Type | The turn geometry used between rows (Circular, Dubins, Reeds-Shepp, Clothoid). |
| Can Reverse | Allow the robot to back up while turning, which permits tighter joins. |
Spacing
Spacing Mode controls how rows are spaced:
- Overlap % — set how much each pass overlaps the previous one as a percentage of working width. The modal shows the resulting Effective spacing.
- Number of Rows — set an exact row count. Spacing is then derived from a Reference line — either a Boundary Edge (choose Longest Edge or a specific Edge) or a Custom Line you place on the map.
Pattern and angle
- Row Direction — Fixed Angle lets you set the row angle; otherwise the planner orients rows automatically.
- Pattern Type — Serpentine (back-and-forth), Spiral, or Racetrack. Choosing Spiral reveals Spiral Options (Inward / Outward).
- Turn Direction — Right or Left for the connecting turns.
- Skip & Fill — skip N rows then come back and fill them, for patterns that avoid working adjacent rows in sequence (0 disables).
Headlands
Headlands are the perimeter passes that frame the field so the robot can turn cleanly. Set Mode to None, Integrated (woven into the main path), or Separate (a distinct layer). When enabled:
- Passes — how many perimeter laps to run.
- Headland First — run the headland passes before the interior rows.
- Overlap (rows) — how far the headland overlaps the interior coverage.
Rows and Spaced Points options
- Rows output uses a single Spacing (m) value for the distance between row lines.
- Spaced Points output uses a Pattern (Hexagonal, Square, or Rectangular) and a Spacing (m) value; rectangular grids add a separate Column Spacing (m).
Generating
Click Generate to build the output. The result is added to the map as draft layers (see Features and Layers), which you can then deploy to robots or use in a mission or operation. Re-running Generate with the same name replaces the previous output in place; changing the name produces a fresh set. Reset to Defaults clears your settings.