TY - GEN
T1 - Sampling-based coverage path planning for inspection of complex structures
AU - Englot, Brendan
AU - Hover, Franz S.
PY - 2012
Y1 - 2012
N2 - We present several new contributions in sampling-based coverage path planning, the task of finding feasible paths that give 100% sensor coverage of complex structures in obstacle-filled and visually occluded environments. First, we establish a framework for analyzing the probabilistic completeness of a sampling-based coverage algorithm, and derive results on the completeness and convergence of existing algorithms. Second, we introduce a new algorithm for the iterative improvement of a feasible coverage path; this relies on a sampling-based subroutine that makes asymptotically optimal local improvements to a feasible coverage path based on a strong generalization of the RRT* algorithm. We then apply the algorithm to the real-world task of autonomous in-water ship hull inspection. We use our improvement algorithm in conjunction with redundant roadmap coverage planning algorithm to produce paths that cover complex 3D environments with unprecedented efficiency.
AB - We present several new contributions in sampling-based coverage path planning, the task of finding feasible paths that give 100% sensor coverage of complex structures in obstacle-filled and visually occluded environments. First, we establish a framework for analyzing the probabilistic completeness of a sampling-based coverage algorithm, and derive results on the completeness and convergence of existing algorithms. Second, we introduce a new algorithm for the iterative improvement of a feasible coverage path; this relies on a sampling-based subroutine that makes asymptotically optimal local improvements to a feasible coverage path based on a strong generalization of the RRT* algorithm. We then apply the algorithm to the real-world task of autonomous in-water ship hull inspection. We use our improvement algorithm in conjunction with redundant roadmap coverage planning algorithm to produce paths that cover complex 3D environments with unprecedented efficiency.
UR - http://www.scopus.com/inward/record.url?scp=84866465080&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866465080&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84866465080
SN - 9781577355625
T3 - ICAPS 2012 - Proceedings of the 22nd International Conference on Automated Planning and Scheduling
SP - 29
EP - 37
BT - ICAPS 2012 - Proceedings of the 22nd International Conference on Automated Planning and Scheduling
T2 - 22nd International Conference on Automated Planning and Scheduling, ICAPS 2012
Y2 - 25 June 2012 through 29 June 2012
ER -