Boustrophedon path planning

[proteca]

Hello everyone, I'm trying to cover an entire area with a step size of 0.4. I would like that with each change of "parallel line" the following point is that of a side. Currently the program will always look for the lowest point. I put pictures to make it more clear ;)

Thank you in advance

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import math import matplotlib.pyplot as plt from shapely.geometry import Point, Polygon   def boustrophedon_path(latitude_orange, longitude_orange, step_size):     path = []       # Create the polygon from the coordinates     poly = Polygon(zip(latitude_orange, longitude_orange))       # Find the bounds of the polygon     min_lat = min(latitude_orange)     max_lat = max(latitude_orange)     min_lon = min(longitude_orange)     max_lon = max(longitude_orange)       # Iterate through the zone in parallel lines     current_lat = min_lat # latitude actuelle = latitude minimale     while current_lat <= max_lat: # tant que latitude actuelle <= latitude maximale         current_lon = min_lon    # longitude actuelle = longitude minimale         while current_lon <= max_lon:  # tant que  longitude actuelle <= longitude maximale                                                         point = Point(current_lat, current_lon) # ajout de point( latitude actuelle, longitude actuelle)             if poly.contains(point):  # si le polygone contient point                 path.append((current_lat, current_lon)) # alors le point est ajouté au chemin             current_lon += step_size # longitude actuelle += un pas de 0.4                                      current_lat += step_size # latitude actuelle += pas de 0.4       return path # retourne le chemin   latitude_blue = [0, 0, 2, 3, 3, 0] longitude_blue = [0, 4, 8, 4, 0, 0]   # Espacement entre les droites parallèles (40 cm) step_size = 0.6  # En degrés   # Check if latitude_blue and longitude_blue have the same length if len(latitude_blue) != len(longitude_blue):     print("Error: The latitude and longitude lists have different lengths.") else:     # Create the blue polygon using Shapely     blue_polygon = Polygon(zip(latitude_blue, longitude_blue))       # Calculate the coordinates for the orange polygon by shrinking the blue polygon by 0.2 units     orange_polygon = blue_polygon.buffer(-0.2)       # Extract the coordinates of the orange polygon     latitude_orange, longitude_orange = orange_polygon.exterior.xy       # Calcul du chemin boustrophédon     path = boustrophedon_path(latitude_orange, longitude_orange, step_size)       # Préparation des données pour le tracé     x = [point[0] for point in path]  # Longitude     y = [point[1] for point in path]  # Latitude     print(x,y)           for i,j in zip(x,y):         plt.plot(x,y,color='red',marker='x')                     plt.plot(latitude_blue, longitude_blue, color='blue')     plt.plot(latitude_orange, longitude_orange, color='orange')     plt.title('Polygons')     plt.grid(True)     plt.show()

The result I get is picture 1
The result I would like to get is picture 2

snippsat write Jun-24-2023, 08:08 PM:
Fixed code tag in your post,look at BBCode on how to use.