Inspection planning for sensor coverage of 3D marine structures
Name
HOver_Inspection planning.pdf
Size
1.73 MB
Format
Adobe PDF
Checksum (MD5)
cf65f87509b9a28a0d459cdf4553eddc
Author(s)
Englot, Brendan J.
Hover, Franz S.
Date Issued
October 2010
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Englot, Brendan, and F Hover. Inspection Planning for Sensor Coverage of 3D Marine Structures. In Pp. 4412–4417. 2010, IEEE. © Copyright 2010 IEEE
Version
Final published version
Abstract
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 minimum-cost 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.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2010.5648908
