Through our proposed method, the coverage search experiment is carried out in complex obstacle environment. (A) Trajectory at t = 0 s. (B) Trajectory at t = 72 s. (C) Trajectory at t = 139 s. (D) Coverage effect at t = 0 s. (E) Coverage effect at t = 72 s. (F) Coverage effect at t = 139 s. (G) Mapping at t = 0 s. (H) Mapping at t = 72 s. (I) Mapping at t = 139 s.