Table 1 The UTM coordinates of the irregular region vertices.

From: Improved genetic algorithm based on bi-level co-evolution for coverage path planning in irregular region

Vertices

UTM-X (m)

UTM-Y (m)

Vertices

UTM-X (m)

UTM-Y (m)

Vertices

UTM-X (m)

UTM-Y (m)

1

253900.78

3992644.12

12

254051.97

3993540.11

23

254316.69

3992782.19

2

253864.91

3992894.46

13

254072.86

3993486.13

24

254316.30

3992651.60

3

253857.60

3993129.29

14

254076.68

3993446.95

25

254298.67

3992509.96

4

253883.97

3993269.38

15

254129.44

3993411.87

26

254297.53

3992458.75

5

253921.05

3993453.60

16

254213.71

3993447.75

27

254285.38

3992366.64

6

253942.14

3993516.16

17

254252.87

3993406.67

28

254259.54

3992328.16

7

253969.53

3993568.65

18

254293.81

3993346.96

29

254241.05

3992313.82

8

253999.71

3993596.46

19

254322.66

3993285.81

30

254166.27

3992260.52

9

254015.88

3993603.34

20

254332.52

3993219.64

31

254123.44

3992272.72

10

254025.43

3993600.93

21

254298.63

3993137.00

32

254032.10

3992386.65

11

254037.62

3993576.73

22

254317.87

3993031.77

33

253940.93

3992539.69