TY - JOUR
T1 - Three-dimensional coverage planning for an underwater inspection robot
AU - Englot, Brendan
AU - Hover, Franz S.
PY - 2013/8
Y1 - 2013/8
N2 - 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.
AB - 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.
KW - Path planning
KW - marine robotics
KW - sensor coverage
KW - sonar
UR - http://www.scopus.com/inward/record.url?scp=84884262136&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84884262136&partnerID=8YFLogxK
U2 - 10.1177/0278364913490046
DO - 10.1177/0278364913490046
M3 - Article
AN - SCOPUS:84884262136
SN - 0278-3649
VL - 32
SP - 1048
EP - 1073
JO - International Journal of Robotics Research
JF - International Journal of Robotics Research
IS - 9-10
ER -