Coverage Path Planning with Real-time Replanning and Surface Reconstruction for Inspection of Three-dimensional Underwater Structures using Autonomous Underwater Vehicles
dc.contributor.author
dc.date.accessioned
2015-10-19T07:03:09Z
dc.date.available
2015-10-19T07:03:09Z
dc.date.issued
2015-01-01
dc.identifier.issn
1556-4959
dc.identifier.uri
dc.description.abstract
We present a novel method for planning coverage paths for inspecting complex structures on the ocean floor using an autonomous underwater vehicle (AUV). Our method initially uses a 2.5-dimensional (2.5D) prior bathymetric map to plan a nominal coverage path that allows the AUV to pass its sensors over all points on the target area. The nominal path uses a standard mowing-the-lawn pattern in effectively planar regions, while in regions with substantial 3D relief it follows horizontal contours of the terrain at a given offset distance. We then go beyond previous approaches in the literature by considering the vehicle's state uncertainty rather than relying on the unrealistic assumption of an idealized path execution. Toward that end, we present a replanning algorithm based on a stochastic trajectory optimization that reshapes the nominal path to cope with the actual target structure perceived in situ. The replanning algorithm runs onboard the AUV in real time during the inspection mission, adapting the path according to the measurements provided by the vehicle's range-sensing sonars. Furthermore, we propose a pipeline of state-of-the-art surface reconstruction techniques we apply to the data acquired by the AUV to obtain 3D models of the inspected structures that show the benefits of our planning method for 3D mapping. We demonstrate the efficacy of our method in experiments at sea using the GIRONA 500 AUV, where we cover part of a breakwater structure in a harbor and an underwater boulder rising from 40 m up to 27 m depth
dc.description.sponsorship
This research has been sponsored by the Government of Spain (COMAROB Project, DPI2011-27977-C03-02), the MORPH EU FP7-Project (grant agreement FP7-ICT-2011-7-288704), and the Eurofleets2 EU FP7-Project (grant agreement FP7-INF-2012-312762). The authors are grateful to Lluis Magi, Carles Candela, and Arnau Carrera for helping with the GIRONA 500 operations
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Wiley
dc.relation
info:eu-repo/grantAgreement/MICINN//DPI2011-27977-C03-02/ES/COMAROB: ROBOTICA COOPERATIVA MARINA PARA EL MAPEO ACUSTICO Y LA INTERVENCION/
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.1002/rob.21554
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© Journal of Field Robotics, 2015, vol. 32, núm. 7, p. 952-983
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Coverage Path Planning with Real-time Replanning and Surface Reconstruction for Inspection of Three-dimensional Underwater Structures using Autonomous Underwater Vehicles
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/embargoedAccess
dc.embargo.terms
Cap
dc.date.embargoEndDate
info:eu-repo/date/embargoEnd/2026-01-01
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/288704/EU/Marine robotic system of self-organizing, logically linked physical nodes/MORPH
info:eu-repo/grantAgreement/EC/FP7/312762/EU/New operational steps towards an alliance of European research fleets/EUROFLEETS2
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
022261
dc.contributor.funder
dc.relation.ProjectAcronym
dc.identifier.eissn
1556-4967