Free movimg pattern´s Online Spanning Tree Coverage Algorithm

The coverage path planning algorithm can be defined as making integration the robot´s footprint identical to that of the target region [Choset]. The spanning tree coverage which is one of the coverage path planning algorithm is proved to be optimal in the sense that there is no repetitive coverage [Gabriely]. But the online version of spanning tee coverage shows spiral moving pattern which can cause severe localization problems. So we propose a free moving pattern´s online spanning tree coverage algorithm which can freely make any moving pattern to lessen the localization or moving pattern´s problem and meet the user request