{"title":"Coverage path planning for underwater pole inspection using an autonomous underwater vehicle","authors":"Y. S. Song, M. Arshad","doi":"10.1109/I2CACIS.2016.7885320","DOIUrl":null,"url":null,"abstract":"This paper presents a pre-mission coverage path planning specifically for visual inspection of a well-characterized underwater pole using an autonomous underwater vehicle. The target environment is modelled as a planar map for easy path planning. Various inspection paths are constructed based on the survey of current available coverage trajectories. Then, all the designed paths are analyzed to find a time optimal path among them which is able to provide complete coverage on the underwater pole surface while minimize the operational time needed. A robust property is added into the planned path to achieve robustness against the position uncertainty of autonomous underwater vehicle.","PeriodicalId":399080,"journal":{"name":"2016 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/I2CACIS.2016.7885320","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 9
Abstract
This paper presents a pre-mission coverage path planning specifically for visual inspection of a well-characterized underwater pole using an autonomous underwater vehicle. The target environment is modelled as a planar map for easy path planning. Various inspection paths are constructed based on the survey of current available coverage trajectories. Then, all the designed paths are analyzed to find a time optimal path among them which is able to provide complete coverage on the underwater pole surface while minimize the operational time needed. A robust property is added into the planned path to achieve robustness against the position uncertainty of autonomous underwater vehicle.
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