Table 3 Vertices of complex region.

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

Num

5 sub-regions

6 sub-regions

7 sub-regions

8 sub-regions

x

y

x

y

x

y

x

y

1

1

10

1

10

1

10

1

10

2

2

10

2

10

2

10

1.5

10

3

2

5

2

5

2

5

1.5

5

4

4

4

4

4

4

4

2.5

4

5

4

10

4

10

4

10

2.5

10

6

6

10

6

10

4.5

10

3

10

7

6

20

6

20

4.5

4

3

4

8

5

20

5

20

5.5

4

4

5

9

5

15

5

15

5.5

10

4

10

10

4

15

4

15

6

10

4.5

10

11

4

20

4

20

6

20

4.5

4

12

3

20

3

20

5

20

5.5

4

13

3

15

3

15

5

15

5.5

10

14

2

15

2

15

4

15

6

10

15

2

20

2

20

4

20

6

20

16

1

20

1

20

3

20

5

20

17

1

15

3

15

5

15

18

0

15

2

15

4

15

19

0

13

2

20

4

20

20

1

13

1

20

3

20

21

1

15

3

15

22

0

15

2

15

23

0

13

2

20

24

1

13

1

20

25

1

15

26

0

15

27

0

13

28

1

13