NDLI: Sensor driven online coverage planning for autonomous underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Paull, L. SaeediGharahbolagh, S. Seto, M. Li, H.
Copyright Year	2012
Description	Author affiliation: Collaboration Based Robotics and Automation (COBRA) Group in the Department of Electrical and Computer Engineering at the University of New Brunswick, Canada (Paull, L.; SaeediGharahbolagh, S.; Li, H.) \|\| Mine and Harbour Defense Group at Defense R&D Canada-Atlantic, Canada (Seto, M.)
Abstract	At present, autonomous underwater vehicle (AUV) mine countermeasure (MCM) surveys are pre-planned by operators using ladder or zig-zag paths. Such surveys are often conducted with side-looking sonar sensors whose performance is dependant on a number of environment factors, as well as lateral range from the AUV track. This research presents a sensor driven online approach to seabed coverage for MCM. A method is presented where paths are planned adaptively using a multi-objective optimization. Information theory is combined with a new concept coined branch entropy based on a hexagonal cell decomposition. The result is a planning algorithm that often produces shorter paths than conventional means and is also capable of accounting for environmental factors detected in situ. Hardware-in-the-loop simulations and in water trials conducted on the IVER2 AUV show the effectiveness of the proposed method.
Starting Page	2875
Ending Page	2880
File Size	434761
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385838
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Entropy Robot sensing systems Linear programming Sonar Planning Path planning
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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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