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
References
Barrientos, A., Peñin, L., Balaguer, C., y Aracil, R. (2007). Fundamentos de Robotica. McGraw-Hill.
Galceran, E., Campos, R., Palomeras, N., Ribas, D., Carreras, M., y Ridao, P. (2014). Coverage Path Planning with Real-time Replanning and Surface Reconstruction for Inspection of Three-dimensional Under water Structures using Autonomous Underwater Vehicles. Journal of Field Robotics. doi:10.1002/rob.21554
Hernández, J. D., Vallicrosa, G., Vidal, E., Pairet, È., Carreras, M., y Ridao, P. (2015). On-line 3D Path Planning for Close-proximity Surveying with AUVs. En IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV'2015). Girona.
Hernández, J. D., Vidal, E., Vallicrosa, G., Galceran, E. y Carreras, M. (2015). Online path planning for autonomous underwater vehicles in unknown environments. En IEEE International Conference on Robotics and Automation (ICRA) (pp. 1152-1157). Seattle: IEEE. doi:10.1109/ICRA.2015.7139336
Hornung, A., Wurm, K. M., Bennewitz, M., Stachniss, C. y Burgard, W. (2013). OctoMap: an efficient probabilistic 3D mapping framework based on octrees. Autonomous Robots, 34(3), 189-206. doi:10.1007/s10514-012-9321-0
Hover, F. S., Eustice, R. M., Kim, A., Englot, B., Johannsson, H., Kaess, M. y Leonard, J. J. (2012). Advanced perception, navigation and planning for
autonomous in-water ship hull inspection. The International Journal of Robotics Research, 31(12), 1445-1464. doi:10.1177/0278364912461059
Karaman, S. y Frazzoli, E. (2011). Sampling-based Algorithms for Optimal Motion Planning. The International Journal of Robotics Research, 30(7), 846-894. doi:10.1177/0278364911406761
Kavraki, L. E., Svestka, P., Latombe, J.-C. y Overmars, M. H. (1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4), 566-580. doi:10.1109/70.508439
LaValle, S. M. y Kuffner, J. J. (2001). Randomized Kinodynamic Planning. The International Journal of Robotics Research, 20(5), 378-400. doi:10.1177/02783640122067453
Randomized Kinodynamic Planning. The International Journal of Robotics Research, 20(5), 378-400. doi:10.1177/02783640122067453
Maki, T., Mizushima, H., Kondo, H., Ura, T., Sakamaki, T. y Yanagisawa, M. (2007). Real time path-planning of an AUV based on characteristics of passive acoustic landmarks for visual mapping of shallow vent fields. En MTS/IEEEOCEANS.Vancouver. doi:10.1109/OCEANS.2007.4449321
Mallios, A., Ridao, P., Carreras, M. y Hernàndez, E. (2011). Navigating and mapping with the SPARUS AUV in a natural and unstructured under water environment. En MTS/IEEE OCEANS. Waikoloa. Recuperado a partir de: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6107105
Petillot, Y., Ruiz, I. T., y Lane, D. M. (2001). Underwater vehicle obstacle avoidance and path planning using a multi-beam forward looking sonar. IEEE Journal of Oceanic Engineering, 26(2), 240-251. doi:10.1109/48.922790.
Downloads
Published
How to Cite
Issue
Section
