Coverage path planning (CPP) is in great demand with applications in agriculture, mining, manufacturing, etc. Most research in this area focused on 2D CPP problems solving the coverage problem with irregular 2D maps. Comparatively, CPP on uneven terrains is not fully solved. When there are many slopy areas in the working field, it is necessary to adjust the path shape and make it adapt to the 3D terrain surface to save energy consumption. This article proposes a terrain-shape-adaptive CPP method with three significant features. First, the paths grow by themselves according to the local terrain surface shapes. Second, the growth rule utilizes the 3D terrain traversability analysis, which makes them automatically avoid entering hazardous zones. Third, the irregularly distributed paths are connected under an optimal sequence with an improved genetic algorithm. As a result, the method can provide an autonomously growing terrain-adaptive coverage path with high energy efficiency and coverage rate compared to previous research works. It is demonstrated on various maps and is proven to be robust to terrain conditions.

覆盖路径规划（CPP）在农业、采矿、制造等领域的应用有很大的需求。该领域的大多数研究都集中在二维 CPP 问题上，解决不规则二维地图的覆盖问题。相比之下，不平坦地形上的CPP还没有完全解决。当作业场地有较多坡度区域时，需要调整路径形状，使其适应3D地形表面，以节省能耗。本文提出了一种地形自适应 CPP 方法，具有三个显着特点。首先，路径根据当地地形表面形状自行生长。其次，生长规则利用了3D地形可穿越性分析，使它们自动避免进入危险区域。第三，利用改进的遗传算法将不规则分布的路径按照最优序列进行连接。因此，与之前的研究工作相比，该方法可以提供自主生长的地形自适应覆盖路径，具有较高的能量效率和覆盖率。它在各种地图上进行了演示，并被证明对地形条件具有鲁棒性。