Profile Following for Inspection of Underwater Structures
dc.contributor.author
dc.date.accessioned
2014-05-07T07:57:47Z
dc.date.available
2014-05-07T07:57:47Z
dc.date.issued
2013-12
dc.identifier.issn
2081-4836
dc.identifier.uri
dc.description.abstract
We present a seabed profile estimation and following method for close proximity inspection of 3D underwater structures using autonomous underwater vehicles (AUVs). The presented method is used to determine a path allowing the AUV to pass its sensors over all points of the target structure, which is known as coverage path planning. Our profile following method goes beyond traditional seabed following at a safe altitude and exploits hovering capabilities of recent AUV developments. A range sonar is used to incrementally construct a local probabilistic map representation of the environment and estimates of the local profile are obtained via linear regression. Two behavior-based controllers use these estimates to perform horizontal and vertical profile following. We build upon these tools to address coverage path planning for 3D underwater structures using a (potentially inaccurate) prior map and following cross-section profiles of the target structure. The feasibility of the proposed method is demonstrated using the GIRONA 500 AUV both in simulation using synthetic and real-world bathymetric data and in pool trials
dc.description.sponsorship
This research was sponsored by the Spanish government (COMAROB
Project, DPI2011-27977-C03-02) and the MORPH EU FP7-Project under the Grant agreement FP7-ICT-2011-7-288704. We are grateful for
this support
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
De Gruyter
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/10.2478/pjbr-2013-0019
dc.relation.ispartof
Paladyn, Journal of Behavioral Robotics, 2013, vol. 4, núm. 4, p. 211-222
dc.relation.ispartofseries
Articles publicats (D-ATC)
dc.rights
Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.uri
dc.title
Profile Following for Inspection of Underwater Structures
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.embargo.terms
Cap
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
022260
dc.contributor.funder
dc.relation.ProjectAcronym