TY - GEN
T1 - Inspection planning for sensor coverage of 3D marine structures
AU - Englot, Brendan
AU - Hover, Franz
PY - 2010
Y1 - 2010
N2 - We introduce an algorithm to achieve complete sensor coverage of complex, three-dimensional structures surveyed by an autonomous agent with multiple degrees of freedom. Motivated by the application of an ocean vehicle performing an autonomous ship hull inspection, we consider a planning problem for a fully-actuated, six degree-of-freedom hovering AUV using a bathymetry sonar to inspect the complex structures underneath a ship hull. We consider a discrete model of the structure to be inspected, requiring only that the model be provided in the form of a closed triangular mesh. A dense graph of feasible paths is constructed in the robot's configuration space until the set of edges in the graph allows complete coverage of the structure. Then, we approximate the minimumcost closed walk along the graph which observes 100% of the structure. We emphasize the embedding of observations within the edges of the graph as a means of utilizing all available sensor data in planning the inspection.
AB - We introduce an algorithm to achieve complete sensor coverage of complex, three-dimensional structures surveyed by an autonomous agent with multiple degrees of freedom. Motivated by the application of an ocean vehicle performing an autonomous ship hull inspection, we consider a planning problem for a fully-actuated, six degree-of-freedom hovering AUV using a bathymetry sonar to inspect the complex structures underneath a ship hull. We consider a discrete model of the structure to be inspected, requiring only that the model be provided in the form of a closed triangular mesh. A dense graph of feasible paths is constructed in the robot's configuration space until the set of edges in the graph allows complete coverage of the structure. Then, we approximate the minimumcost closed walk along the graph which observes 100% of the structure. We emphasize the embedding of observations within the edges of the graph as a means of utilizing all available sensor data in planning the inspection.
UR - http://www.scopus.com/inward/record.url?scp=78651471601&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651471601&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5648908
DO - 10.1109/IROS.2010.5648908
M3 - Conference contribution
AN - SCOPUS:78651471601
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 4412
EP - 4417
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -