NDLI: Field experimental results of path re-planning method for an AUV to visualize complicated surface in 3D

Content Provider	IEEE Xplore Digital Library
Author	Sato, Y. Maki, T. Kume, A. Matsuda, T. Sakamaki, T. Ura, T.
Copyright Year	2013
Description	Author affiliation: Inst. of Ind. Sci., Univ. of Tokyo, Tokyo, Japan (Sato, Y.; Maki, T.; Sakamaki, T.; Ura, T.) \|\| Grad. Sch. of Frontier Sci., Univ. of Tokyo, Tokyo, Japan (Kume, A.; Matsuda, T.)
Abstract	Although AUVs can observe seafloor without tether cables nor human control, it is impossible for operators to confirm in real time that there are no unscanned areas caused by occlusions, positioning errors, and so on. If unobserved areas are found by post processing, another deployment of the AUV is necessary to cover them. Therefore, we have proposed a recursive observation method of rough terrain by an AUV to realize a high coverage observation at one deployment. In the method, the AUV evaluates unobserved regions after completing the preplanned path. After that, the vehicle generates a new path to cover them. This paper reports the results of sea experiments held at Suruga Bay in Japan, in November 2012. An artificial target was set up on the seafloor. Then the AUV Tri-TON observed the target based on the proposed method. As the generated path was concentrated on the target, the performance of the proposed method at the real sea environment was verified. In addition, mapping accuracy was evaluated by comparing the observational results and ground truth.
Sponsorship	Japan Council OE Chapt.
Starting Page	1
Ending Page	7
File Size	1941494
Page Count	7
File Format	PDF
ISBN	9781467359481
e-ISBN	9781467359498
DOI	10.1109/UT.2013.6519892
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-03-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Cameras Noise reduction Educational institutions Instruments Surges Measurement by laser beam
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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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