Two-Dimensional Frontier-Based Viewpoint Generation for Exploring and Mapping Underwater Environments
dc.contributor.author
dc.date.accessioned
2019-03-29T08:37:43Z
dc.date.available
2019-03-29T08:37:43Z
dc.date.issued
2019-03-25
dc.identifier.uri
dc.description.abstract
To autonomously explore complex underwater environments, it is convenient to develop motion planning strategies that do not depend on prior information. In this publication, we present a robotic exploration algorithm for autonomous underwater vehicles (AUVs) that is able to guide the robot so that it explores an unknown 2-dimensional (2D) environment. The algorithm is built upon view planning (VP) and frontier-based (FB) strategies. Traditional robotic exploration algorithms seek full coverage of the scene with data from only one sensor. If data coverage is required for multiple sensors, multiple exploration missions are required. Our approach has been designed to sense the environment achieving full coverage with data from two sensors in a single exploration mission: occupancy data from the profiling sonar, from which the shape of the environment is perceived, and optical data from the camera, to capture the details of the environment. This saves time and mission costs. The algorithm has been designed to be computationally efficient, so that it can run online in the AUV’s onboard computer. In our approach, the environment is represented using a labeled quadtree occupancy map which, at the same time, is used to generate the viewpoints that guide the exploration. We have tested the algorithm in different environments through numerous experiments, which include sea operations using the Sparus II AUV and its sensor suite
dc.description.sponsorship
This research was funded by the GIRONA1000 and 3DAUV projects under the grant agreements
DPI2017-86372-C3-2-R and DPI2015-73978-JIN, respectively, and by the Spanish Government through the
FPU14/05493 PhD grant to E. Vidal
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
MDPI (Multidisciplinary Digital Publishing Institute)
dc.relation
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-86372-C3-2-R/ES/ROBOT SUBMARINO COOPERATIVO PARA LA INTERVENCION/
info:eu-repo/grantAgreement/MINECO//DPI2015-73978-JIN/ES/INSPECCION AUTOMATICA DE ENTORNOS SUBMARINOS 3D MEDIANTE UN AUV./
dc.relation.isformatof
Reproducció digital del document publicat a: https://doi.org/10.3390/s19061460
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Sensors, 2019, vol. 19, núm. 6, p.1460
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Articles publicats (D-ATC)
dc.rights
Attribution 4.0 International
dc.rights.uri
dc.subject
dc.title
Two-Dimensional Frontier-Based Viewpoint Generation for Exploring and Mapping Underwater Environments
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.contributor.funder
dc.type.peerreviewed
peer-reviewed
dc.relation.FundingProgramme
dc.relation.ProjectAcronym
dc.identifier.eissn
1424-8220