TY - GEN
T1 - Sampling-based sweep planning to exploit local planarity in the inspection of complex 3D structures
AU - Englot, Brendan
AU - Hover, Franz S.
PY - 2012
Y1 - 2012
N2 - We present a hybrid algorithm that plans feasible paths for 100% sensor coverage of complex 3D structures. The structures to be inspected are segmented to isolate planar areas, and back-and-forth sweep paths are generated to view as much of these planar areas as possible while avoiding collision. A randomized planning procedure fills in the remaining gaps in coverage. The problem of selecting an order to traverse the elements of the inspection is solved by reduction to the traveling salesman problem. We present results of the planning algorithm for an autonomous underwater vehicle inspecting the in-water portion of a ship hull. The randomized configurations succeed in observing confined and occluded areas, while the 2D sweep paths succeed in covering the open areas.
AB - We present a hybrid algorithm that plans feasible paths for 100% sensor coverage of complex 3D structures. The structures to be inspected are segmented to isolate planar areas, and back-and-forth sweep paths are generated to view as much of these planar areas as possible while avoiding collision. A randomized planning procedure fills in the remaining gaps in coverage. The problem of selecting an order to traverse the elements of the inspection is solved by reduction to the traveling salesman problem. We present results of the planning algorithm for an autonomous underwater vehicle inspecting the in-water portion of a ship hull. The randomized configurations succeed in observing confined and occluded areas, while the 2D sweep paths succeed in covering the open areas.
UR - http://www.scopus.com/inward/record.url?scp=84872348818&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872348818&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6386126
DO - 10.1109/IROS.2012.6386126
M3 - Conference contribution
AN - SCOPUS:84872348818
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4456
EP - 4463
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -