Autonomous Inspection of Underwater Milieus
DOI:
https://doi.org/10.25044/25392190.473Keywords:
path planning, mapping, online computing, underwater environments, survey, AUV.Abstract
This work presents an approach to inspect underwater environments using Autonomous Underwater Vehicles (AUVs). The environment to be explored are assumed as unknown, which requires the vehicle to be able to map and plan collision-free paths simultaneously and online. For doing so, we present a framework composed of three functional modules of mapping, path planning and coordination. The first of them uses a data structure that presents volumetric spaces and permits to differentiate free, occupied and unknown regions. The second functional module uses a sampling-based algorithm for planning collision-free paths. The algorithm has been modified for (re)planning paths according to the information incrementally gathered from the environment. The last functional module is in charged of coordinating the first two modules and also of communicating the resulting waypoints to the vehicle's controllers. Finally, simulation and real-world results using the SPARUS-II AUV are presented in order to validate our approach.Downloads
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