Multi-criteria metric to evaluate motion planners for underwater intervention

• Type: Article in International Scientific Journal
• Date: 2022

Authors

Silva, R (Author) Other; Aníbal Castilho Coimbra de Matos (Author) FEUP; Pinto, AM (Author) FEUP

Journal

Title: Autonomous Robots

Vol. 46

Pages: 971-983

ISSN: 0929-5593

Publisher: Springer Nature

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 4 Citations

Other information

Authenticus ID: P-00X-8ET

DOI: 10.1007/s10514-022-10060-x

Abstract (EN): Underwater autonomous manipulation is the capability of a mobile robot to perform intervention tasks that require physical contact with unstructured environments without continuous human supervision. Being difficult to assess the behaviour of existing motion planner algorithms, this research proposes a new planner evaluation metric to identify well-behaved planners for specialized tasks of inspection and monitoring of man-made underwater structures. This metric is named NEMU and combines three different performance indicators: effectiveness, safety and adaptability. NEMU deals with the randomization of sampling-based motion planners. Moreover, this article presents a benchmark of multiple planners applied to a 6 DoF manipulator operating underwater. Results conducted in real scenarios show that different planners are better suited for different tasks. Experiments demonstrate that the NEMU metric can be used to distinguish the performance of planners for particular movement conditions. Moreover, it identifies the most promising planner for collision-free motion planning, being a valuable contribution for the inspection of maritime structures, as well as for the manipulation procedures of autonomous underwater vehicles during close range operations.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 13