Coverage Path Planning for Mapping of Underwater Structures with an Autonomous Underwater Vehicle
Nare Karapetyan, James Johnson, Ioannis Rekleitis
In MTS/IEEE OCEANS - Singapore 2020.
Abstract
This paper addresses the problem of the coverage path planning in a 3D environment for surveying underwater structures. We propose to use the navigation strategy that a human diver will execute when circumnavigating around a region of interest, in particular when collecting data from a shipwreck. In contrast to the previous methods in the literature, we are aiming to perform coverage in completely unknown environment with some initial prior information. Our proposed method uses convolutional neural networks to learn the control commands based on the visual input. Preliminary results and a detailed overview of the proposed method are discussed.
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BibTeX
@inproceedings{KarapetyanOceans2020,
author = {Nare Karapetyan and James Johnson and Ioannis Rekleitis},
title = {Coverage Path Planning for Mapping of Underwater
Structures with an Autonomous Underwater Vehicle},
booktitle = {MTS/IEEE OCEANS - Singapore},
year = {2020},
address = {Singapore (Online)}
}
Wed Apr 17 06:21:03 EDT 2024