Accounting for uncertainty in search operations using AUVs

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2017

Autores

Abreu, N (Autor) Outra; Nuno Cruz (Autor) FEUP; Aníbal Castilho Coimbra de Matos (Autor) FEUP

Ata de Conferência Internacional

Título: 2017 IEEE OES International Symposium on Underwater Technology, UT 2017

2017 IEEE OES International Symposium on Underwater Technology, UT 2017

21 February 2017 through 24 February 2017

Indexação

Scopus - 8 Citações

Outras Informações

ID Authenticus: P-00M-QWN

DOI: 10.1109/ut.2017.7890326

Abstract (EN): Traditional coverage path planners create lawnmower-type paths in the operating area completely ignoring the uncertainty in the vehicle's position. However, in the presence of significant uncertainty in localization estimates, one can no longer guarantee that the vehicle will cover all the area according to plan. Aiming to bridge this gap, we present a coverage path planning technique for search operations which takes into account the vehicle's position and detection performance uncertainties and tries to minimize this uncertainty along the planned path. The objective is to plan paths, using a localization error model as input, to reduce as much uncertainty as possible and to minimize the extra path length (swath overlap) while satisfying mission feasibility constraints. We introduce an algorithm that calculates what will be the best moments for bringing the vehicle to surface to ensure a bounded position error. We also consider time and energy constraints that may influence the planned trajectory as path overlap is increased to account for uncertainty. Additionally we challenge the assumption frequently seen in coverage algorithms where two observations of the same target are considered independent. © 2017 IEEE.

Idioma: Inglês

Tipo (Avaliação Docente): Científica