Hello. I am attempting to construct and program a cleaning robot and would like to ask if the wavefront algorithm is an appropriate approach to doing this. I plan to preprogram obstacles, but the catch is that the robot will not find one desired path but instead sweep out every passable node. If I were to program this I believe I would have to assign the path that the robot beforehand instead of the robot finding it, but I am not too good at programming so I would like advice on this. Thank you in advance.