{"id":2724,"date":"2014-04-28T09:09:37","date_gmt":"2014-04-28T08:09:37","guid":{"rendered":"http:\/\/vicorob.udg.edu\/?p=2724"},"modified":"2014-04-28T09:09:37","modified_gmt":"2014-04-28T08:09:37","slug":"coverage-path-planning-for-autonomous-underwater-vehicles","status":"publish","type":"post","link":"https:\/\/vicorob.udg.edu\/ca\/coverage-path-planning-for-autonomous-underwater-vehicles\/","title":{"rendered":"Coverage Path Planning for Autonomous Underwater Vehicles"},"content":{"rendered":"<h4>Doctoral thesis &#8220;<em>Coverage Path Planning for Autonomous Underwater Vehicles&#8221;<\/em><\/h4>\n<p>By<strong> <\/strong><b>Enric Galceran, PhD student of the Doctoral Program in Technology<\/b><br \/>\nSupervised by<strong> Dr. Marc Carreras P\u00e9rez<br \/>\n<\/strong><\/p>\n<p>&nbsp;<\/p>\n<h3>Abstract<\/h3>\n<p>At present, a mission to survey the ocean floor with an Autonomous Underwater Vehicle (AUV) is typically planned by selecting a list of waypoints that then the vehicle will automatically navigate through while keeping a safe distance from the bottom. Nonetheless, this approach has major drawbacks: (1) it does not allow the vehicle to safely operate amidst protrusions on the sea floor; (2) when traversing rugged terrain, the vehicle is forced to keep a conservative altitude, limiting applications\u00a0 requiring close proximity such as photomosaicing; (3) when inspecting 3D, protruding structures from the bottom the vehicle can only perceive them from an overhead viewpoint, resulting in poor data collected from these sites; (4) it does not account for the effect of the terrain on the vehicle&#8217;s position estimates.<\/p>\n<p>&nbsp;<\/p>\n<p>To address these limitations, this thesis proposes new methods to find collision-free paths allowing an AUV to cover an area of the ocean floor with its sensors, which is known as coverage path planning.<\/p>\n<p>&nbsp;<\/p>\n<p>First, we propose a coverage path planning method to plan 2D, safe-altitude surveys which provides a principled way to account for obstacles in AUV survey planning. Its main advantage is that it minimizes redundant coverage when the vehicle navigates at constant depth, leading to shorter paths.<\/p>\n<p>&nbsp;<\/p>\n<p>Second, we provide a method to account for the uncertainty in the vehicle position estimates when planning 2D surveys. The method minimizes the uncertainty induced by the path and leads to better maps of the ocean floor as a result.<\/p>\n<p>&nbsp;<\/p>\n<p>Third, we provide a coverage path planning method suitable for inspecting areas of the ocean floor including 3D structures. The resulting coverage paths enable applications requiring close proximity and allow viewpoints for full 3D sensing of the structure. Moreover, by contrast to most existing methods, we provide two techniques to adapt the planned path in realtime using sensor information acquired on-line during the mission, rather than only planning the path off-line and relying on the unrealistic assumption of an idealized path execution by the AUV. The proposed methods are validated in simulation and in experiments with a real-world AUV.<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h4><em>Tesi Doctoral: Coverage Path Planning for Autonomous Underwater Vehicles<\/em><\/h4>\n<p>Per<strong> <\/strong><b>Enric Galceran, estudiant del Programa de Doctorat en Tecnologia<\/b><br \/>\nSupervisat per<strong> Dr. Marc Carreras P\u00e9rez<\/strong><\/p>\n<p>Traducci\u00f3 del t\u00edtol al catal\u00e0: <i>Planificaci\u00f3 de Camins de Cobertura per a Vehicles Submarins Aut\u00f2noms<\/i><\/p>\n<p>&nbsp;<\/p>\n<h3>Resum<\/h3>\n<p>Actualment, una missi\u00f3 per a cartografiar el fons mar\u00ed amb un vehicle submar\u00ed aut\u00f2nom \u00e9s planificada t\u00edpicament seleccionant una llista de punts a trav\u00e9s dels quals el vehicle navegar\u00e0 autom\u00e0ticament mentre es mant\u00e9 a una dist\u00e0ncia segura del fons. Tanmateix, aquesta metodologia presenta considerables inconvenients: (1) no permet al vehicle operar amb seguretat entre obstacles que sobresurten del fons; (2) en rec\u00f3rrer terreny escarpat, el vehicle \u00e9s for\u00e7at a mantenir una altitud conservadora, impedint tasques que requereixen proximitat al fons, com ara la creaci\u00f3 de fotomosaics; (3) en inspeccionar estructures 3D que sobresurten del fons, el vehicle pot nom\u00e9s percebre-les des d&#8217;un punt de vista zenital, obtenint dades de baixa qualitat com a resultat; (4) no t\u00e9 en compte l&#8217;efecte del terreny sobre les estimacions de posici\u00f3 del vehicle.<\/p>\n<p>&nbsp;<\/p>\n<p>Amb l&#8217;objectiu d&#8217;esmenar aquests inconvenients, aquesta tesi proposa nous m\u00e8todes per generar camins lliures de col\u00b7lisions per a vehicles submarins aut\u00f2noms que permeten cobrir una \u00e0rea del fons de l&#8217;oce\u00e0 usant els sensors del vehicle, tasca coneguda com a planificaci\u00f3 de camins de cobertura.<\/p>\n<p>&nbsp;<\/p>\n<p>Primer, proposem un m\u00e8tode de planificaci\u00f3 de camins de cobertura per a planificar missions en un espai 2D a una altitud segura, proporcionant una manera fonamentada de tenir en compte obstacles en la planificaci\u00f3 de missions per a vehicles submarins aut\u00f2noms. L&#8217;avantatge principal del m\u00e8tode proposat \u00e9s que minimitza la cobertura redundant sorgida quan el vehicle navega a profunditat constant,<\/p>\n<p>obtenint camins m\u00e9s curts com a resultat.<\/p>\n<p>&nbsp;<\/p>\n<p>Segon, presentem un m\u00e8tode per tenir en compte la incertesa de les estimacions de posici\u00f3 del vehicle durant la planificaci\u00f3 de missions 2D. Aquest m\u00e8tode minimitza la incertesa indu\u00efda pel cam\u00ed i genera mapes m\u00e9s acurats del fons oce\u00e0nic com a resultat.<\/p>\n<p>&nbsp;<\/p>\n<p>Tercer, presentem un m\u00e8tode de planificaci\u00f3 de camins de cobertura adequat per inspeccionar \u00e0rees del fons oce\u00e0nic amb estructures 3D. Els camins de cobertura resultants permeten tasques que requereixen proximitat al fons i permeten una completa percepci\u00f3 3D de les estructures d&#8217;inter\u00e8s. A m\u00e9s, a difer\u00e8ncia de la majoria dels m\u00e8todes existents, proporcionem dues t\u00e8cniques per adaptar els camins planificats en temps real utilitzant informaci\u00f3 sensorial adquirida durant la missi\u00f3, per contra de planificar nom\u00e9s abans de l&#8217;execuci\u00f3 de la missi\u00f3 i confiar en la poc realista assumpci\u00f3 d&#8217;una execuci\u00f3 idealitzada del cam\u00ed per part del vehicle. Els m\u00e8todes proposats han estat validats en simulaci\u00f3 i en experiments amb un vehicle submar\u00ed aut\u00f2nom real.<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Doctoral thesis &#8220;Coverage Path Planning for Autonomous Underwater Vehicles&#8221; By Enric Galceran, PhD student of the Doctoral Program in Technology Supervised by Dr. Marc Carreras P\u00e9rez &nbsp; Abstract At present, a mission to survey the ocean floor with an Autonomous Underwater Vehicle (AUV) is typically planned by selecting a list of waypoints that then the&hellip;&nbsp;<a href=\"https:\/\/vicorob.udg.edu\/ca\/coverage-path-planning-for-autonomous-underwater-vehicles\/\" rel=\"bookmark\"><span class=\"screen-reader-text\">Coverage Path Planning for Autonomous Underwater Vehicles<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":2735,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"neve_meta_sidebar":"","neve_meta_container":"","neve_meta_enable_content_width":"","neve_meta_content_width":0,"neve_meta_title_alignment":"","neve_meta_author_avatar":"","neve_post_elements_order":"","neve_meta_disable_header":"","neve_meta_disable_footer":"","neve_meta_disable_title":"","footnotes":""},"categories":[12,58],"tags":[20,66,23],"class_list":["post-2724","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-news","category-scientific-results","tag-auv","tag-thesis","tag-underwater-robotics"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v25.9 - 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