NDLI: Inspection planning for sensor coverage of 3D marine structures

Content Provider	IEEE Xplore Digital Library
Author	Englot, B. Hover, F.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, Massachusetts Institute of Technology, 77, Cambridge MA 02139 USA (Englot, B.; Hover, F.)
Abstract	We introduce an algorithm to achieve complete sensor coverage of complex, three-dimensional structures surveyed by an autonomous agent with multiple degrees of freedom. Motivated by the application of an ocean vehicle performing an autonomous ship hull inspection, we consider a planning problem for a fully-actuated, six degree-of-freedom hovering AUV using a bathymetry sonar to inspect the complex structures underneath a ship hull. We consider a discrete model of the structure to be inspected, requiring only that the model be provided in the form of a closed triangular mesh. A dense graph of feasible paths is constructed in the robot's configuration space until the set of edges in the graph allows complete coverage of the structure. Then, we approximate the minimum-cost closed walk along the graph which observes 100% of the structure. We emphasize the embedding of observations within the edges of the graph as a means of utilizing all available sensor data in planning the inspection.
Starting Page	4412
Ending Page	4417
File Size	1813427
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5648908
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Inspection Sonar Robot sensing systems Planning Marine vehicles Algorithm design and analysis
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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