Three-dimensional coverage planning for an underwater inspection robot
| Autor: | Brendan Englot, Franz S. Hover |
|---|---|
| Rok vydání: | 2013 |
| Předmět: |
Engineering
business.industry Applied Mathematics Mechanical Engineering Real-time computing Probabilistic logic Sampling (statistics) Sonar Artificial Intelligence Modeling and Simulation Hull Robot Computer vision Motion planning Artificial intelligence Electrical and Electronic Engineering Underwater business Software Smoothing |
| Zdroj: | The International Journal of Robotics Research. 32:1048-1073 |
| ISSN: | 1741-3176 0278-3649 |
| DOI: | 10.1177/0278364913490046 |
| Popis: | To support autonomous, in-water inspection of a ship hull, we propose and implement new techniques for coverage path planning over complex 3D structures. Our main contribution is a comprehensive methodology for sampling-based design of inspection routes, including an algorithm for planning, an algorithm for smoothing, and an analysis of probabilistic completeness. The latter two outcomes are the first of their kind in the area of coverage planning. Our algorithms give high-quality solutions over expansive structures, and we demonstrate this with experiments in the laboratory and on a 75 m Coast Guard cutter. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|