DUGiDocsOnline 3D view planning for autonomous underwater exploration
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Autonomous underwater vehicles are used nowadays in many applications. One of
the applications is mapping of a particular area of the ocean. Quen the robot
needs to cover the area of interest and no prior knowledge of the area to be
covered is avaialbe, a robotic exploration algorithm is used.
This thesis develops a robotic exploration algorithm for autonomous
underwater vehicles. The proposed algorithm allows the full exploration of a
2D or 3D environment, using acoustic sensors such as a scanning profiling sonar or a multibeam, and optical cameras.
The validity of the proposed algorithm is demonstrated through numerous
experiments carried out in different locations of the catalan coast, using
different vehicles and sensor suites
L'accés als continguts d'aquesta tesi queda condicionat a l'acceptació de les condicions d'ús establertes per la següent llicència Creative Commons: http://creativecommons.org/licenses/by/4.0/
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