NDLI: Spline-based trajectory planning techniques for benthic AUV operations

Content Provider	IEEE Xplore Digital Library
Author	Murthy, K. Rock, S.
Copyright Year	2010
Description	Author affiliation: Dept. of Aeronautics and Astronautics Stanford University, 496 Lomita Mall Stanford, CA 94305 (Murthy, K.; Rock, S.)
Abstract	AUVs increasingly are being used to collect data in the benthic environment. Many of these data collection tasks require that the AUV is able to follow the terrain at standoff distances on the order of meters (e.g. benthic imaging). However, terrain following with an AUV is a challenging problem when the terrain is rough, and the task becomes even more difficult when using motion-constrained vehicles such as torpedo-style AUVs. One option to improve the terrain-following capability of these vehicles is to incorporate a trajectory following control law. This requires, however, the generation of a trajectory. This paper presents a spline-based trajectory planning technique that exploits prior knowledge of terrain shape and explicitly takes motion constraints into consideration. Details of a the trajectory planning method are provided. The method forms terrain following trajectories by using a spline-based representation of the underlying terrain. A vehicle turning radius constraint along the trajectory is mapped to spline surface curvature constraints by leveraging the continuous nature of the spline-based terrain representation. A curvature-constrained spline surface is then fit to bathymetry by solving an optimization problem. If a feasible solution does not exist, the AUV is not able to survey the site under the specified turning radius constraint. Consequently, this method can also be used as a design tool to determine an AUV's actuation requirements to survey a given terrain. Examples of planned trajectories for an MBARI Dorado AUV over Monterey Bay bathymetry are provided.
Starting Page	1
Ending Page	9
File Size	3485204
Page Count	9
File Format	PDF
ISBN	9781612849805
ISSN	15223167
e-ISBN	9781612849812
DOI	10.1109/AUV.2010.5779666
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-09-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Spline Trajectory Turning Vehicles Planning Optimization Shape
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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