A coverage planner for AUVs using B-splines

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2018

Autores

Romulo T. Rodrigues (Autor) Outra; António Pedro Aguiar (Autor) FEUP; António Pascoal (Autor) Outra

Ata de Conferência Internacional

Título: AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings

Páginas: 1-6

2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018

6 November 2018 through 9 November 2018

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

INSPEC

Outras Informações

ID Authenticus: P-00Q-SCJ

DOI: 10.1109/auv.2018.8729760

Abstract (EN): This papers addresses the problem of coverage path planning (CPP) for autonomous underwater vehicles (AUVs). The proposed offline planner employs a B-spline map representation of the target structure or region to be inspected. The method can be applied for both convex and non-convex shapes using an unified framework. The computed coverage path is described by a cubic B-spline curve that respects the kinodynamics constraints of a holomic vehicle. Due to the differentiability property of cubic B-splines, the desired velocity and the acceleration commands for the AUV are implicitly obtained from the coverage path. Simulation results show the planner performance in different mission scenarios.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6