A coverage planner for AUVs using B-splines

• Type: Article in International Conference Proceedings Book
• Date: 2018

Authors

Romulo T. Rodrigues (Author) Other; António Pedro Aguiar (Author) FEUP; António Pascoal (Author) Other

Conference proceedings International

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

Pages: 1-6

2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018

6 November 2018 through 9 November 2018

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Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6