Side-Scan Sonar Data-Driven Coverage Path Planning: A Comparison of Approaches (CROSBI ID 681947)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kapetanović, Nadir ; Mišković Nikola ; Tahirović, Adnan ; Kvasić, Igor
engleski
Side-Scan Sonar Data-Driven Coverage Path Planning: A Comparison of Approaches
Side-scan sonar mapping of an unknown largescale seafloor area by a marine vehicle is nowadays very common. It is also important that a-priori unknown interesting parts of the seafloor area are scanned in more detail, i.e. sonified from both sides. However, completely autonomous and timeefficient coverage path (re)planning for such missions is still an open issue. In contrast to the standard overlap-all-sonar-ranges lawnmower pattern offline static coverage problem solution for side-scan sonar missions, in this paper two online sonar data-driven coverage algorithms are proposed as extensions of authors’ prior work. Analytical upper and lower bounds on performance of the proposed coverage planning algorithms are given and validated through extensive mission parameters variation simulations. Statistical performance analysis of the proposed coverage planning algorithms’ performance shows significant complete coverage time efficiency improvements w.r.t. the classical unadaptive lawnmower approach. Also, a detailed comparison of coverage planning algorithms proposed by the authors so far is provided.
side-scan sonar, coverage path planning, autonomous underwater vehicles
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Podaci o prilogu
1-6.
2019.
objavljeno
Podaci o matičnoj publikaciji
OCEANS 2019 Marseille Online Proceedings
Podaci o skupu
MTS/IEEE OCEANS ’19 Marseille Conference and Exhibit
poster
17.06.2019-20.06.2019
Marseille, Francuska